Scenario Selector

Role

The role of scenario selector is to select appropriate scenario planner depending on situation. For example, if current pose is within road, then scenario selector should choose on-road planner, and if vehicle is within parking lot, then scenario selector should choose parking scenario. Note that all trajectory calculated by each scenario module passes is collected by scenario selector, and scenario selector chooses which trajectory to be passed down to Control module. This ensures that trajectory from unselected scenario is not passed down to Control when scenario is changed even if there is a delay when scenario planner receives notification that it is unselected by the scenario selector.

Input

• map: autoware_lanelet_msgs::MapBin
• vehicle pose: /tf (map->base_link)
• route: autoware_planning_msgs::Route
  Scenario planner uses above three topics to decide which scenario to use. In general it should decide scenarios based on where in the map vehicle is located(map+vehicle pose) and where it is trying to go(route).
• trajectory: autoware_planning_msgs::Trajectory
  Scenario planner gets the output from all the scenarios and passes the trajectory from selected scenario down to following stacks. This must be done within scenario_selector module in order to sync with the timing of scenario changing.

Output

• scenario: autoware_planning_msgs::Scenario
  This contains current available scenario and selected scenario. Each Scenario modules read this topic and chooses to plan trajectory
• Trajectory: autoware_planning_msgs::Trajectory
  This is the final trajectory of Planning stack, which is the trajectory from selected Scenario module.