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Decision Maker Node

Overview

The Decision Maker Node orchestrates the vehicle's behavior by determining the appropriate operational state based on real-time conditions and data inputs. It ensures safe, efficient, and responsive driving through a state-based decision-making framework, integrating route planning, trajectory generation, and safety corridor management.

Features

  • State-Based Decision Making:
  • Seven operational states, prioritized by criticality:
    1. Safety Corridor: Navigate within a safety corridor.
    2. Remote Operation: Operate under remote control.
    3. Requesting Assistance: Handle assistance requests.
    4. Follow Route: Follow a predefined route.
    5. Follow Reference: Track a given trajectory.
    6. Standstill: Halt the vehicle.
    7. Emergency Stop: Stop immediately in critical situations.
  • Route Planning and Trajectory Generation:
  • Supports multiple planners: Lane Following and OptiNLC.
  • Dynamically generates trajectories based on current conditions.
  • Safety Corridor Handling:
  • Manages trajectories to navigate or escape safety corridors.
  • Supports both JSON and DENM-based safety corridor formats.
  • Remote Operation Support:
  • Follows waypoints provided during remote operations.
  • Dynamic Environment Awareness:
  • Adapts to real-time updates from maps, routes, and vehicle states.

Topics

Published Topics

  1. trajectory_decision
  2. Type: adore_ros2_msgs::msg::Trajectory

  3. Description: Publishes the generated trajectory for execution.

  4. /MAV/control/RO/path_suggestion

  5. Type: std_msgs::msg::String

  6. Description: Suggests an alternative trajectory during remote operations.

  7. remote_operations_driving_status

  8. Type: adore_ros2_msgs::msg::RemoteOperationsDrivingStatus

  9. Description: Publishes the status of remote driving operations.

  10. /MAV/state/modes

  11. Type: std_msgs::msg::String

  12. Description: Notifies the system of the current driving mode.

  13. /MAV/state/position

  14. Type: std_msgs::msg::String
  15. Description: Publishes the vehicle's position during remote operations.

Subscribed Topics

  1. route
  2. Type: adore_ros2_msgs::msg::Route

  3. Description: Receives the current planned route.

  4. vehicle_state/dynamic

  5. Type: adore_ros2_msgs::msg::VehicleStateDynamic

  6. Description: Updates the vehicle's dynamic state.

  7. local_map

  8. Type: adore_ros2_msgs::msg::Map

  9. Description: Receives updates on the local map.

  10. /ego_vehicle/v2x/json/rgs

  11. Type: std_msgs::msg::String

  12. Description: Receives safety corridor data in JSON format.

  13. /DENM_out

  14. Type: denm_v2_23_denm_pdu_description_msgs::msg::DENM

  15. Description: Receives safety corridor data in DENM format.

  16. vehicle_state/monitor

  17. Type: adore_ros2_msgs::msg::StateMonitor

  18. Description: Monitors the vehicle's localization and state.

  19. /MAV/control/waypoint_suggestion

  20. Type: std_msgs::msg::String

  21. Description: Receives waypoint suggestions for remote operation.

  22. planned_trajectory

  23. Type: adore_ros2_msgs::msg::Trajectory

  24. Description: Receives a pre-planned trajectory to follow.

  25. traffic_signals

  26. Type: adore_ros2_msgs::msg::TrafficSignals
  27. Description: Updates traffic signal information.

Parameters

Parameter Name Type Default Value Description
debug_mode_active bool true Enables or disables debug logging.
use_reference_trajectory_as_is bool true Uses the reference trajectory directly without optimization.
set_route_planner int 0 Sets the route planner (0: Lane Following, 1: OptiNLC).
dt double 0.05 Control loop time step (seconds).
remote_operation_speed double 2.0 Speed during remote operation (m/s).
max_acceleration double 2.0 Maximum allowed acceleration (m/s²).
min_acceleration double -2.0 Minimum allowed acceleration (m/s²).
max_steering double 0.7 Maximum allowed steering angle (radians).

States

State Prioritization

States are evaluated in the following priority order: 1. Safety Corridor: - Conditions: VEHICLE_STATE_OK and SAFETY_CORRIDOR_PRESENT. - Generates a trajectory within or escaping the safety corridor. 2. Remote Operation: - Conditions: VEHICLE_STATE_OK and WAYPOINTS_AVAILABLE. - Follows waypoints during remote control. 3. Requesting Assistance: - Conditions: VEHICLE_STATE_OK and NEED_ASSISTANCE. - Generates a standstill trajectory and requests assistance. 4. Follow Route: - Conditions: VEHICLE_STATE_OK, ROUTE_AVAILABLE, and LOCAL_MAP_AVAILABLE. - Generates a trajectory to follow a planned route. 5. Follow Reference: - Conditions: VEHICLE_STATE_OK and REFERENCE_TRAJECTORY_VALID. - Tracks the provided trajectory. 6. Standstill: - Conditions: VEHICLE_STATE_OK. - Generates a standstill trajectory. 7. Emergency Stop: - Conditions: None. - Stops the vehicle immediately.