Classification#
Use Cases and Requirements#
Classification in Traffic Light Recognition is required for use cases involved with traffic light:
- Passing the intersection when traffic light is green
- Stopping at the intersection when traffic signal is red
For the details about related requirements, please refer to the document for Perception stack.
Role#
Classification module recognizes traffic signal status. Unique signal types are handled in LampState.msg definition.
Input#
| Input | Data Type | Topic |
|---|---|---|
| Cropped traffic light information | autoware_perception_msgs::TrafficLightRoiArray.msg |
/perception/traffic_light_recognition/rois |
| Camera | sensor_msgs::Image |
/sensing/camera/*/image_raw |
Output#
| Output | Data Type | Output Component | Topic |
|---|---|---|---|
| Traffic signal status | autoware_traffic_light_msgs::TrafficLightStateArray |
Planning | /perception/traffic_light_recognition/traffic_light_states |
Design#
This is our sample implementation for the Classification module.
Unique signals are handled in autoware_traffic_light_msgs::LampState. When requiring to detect local unique signals which are not defined here, need to add them in autoware_traffic_light_msgs::LampState.
