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.

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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.

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Topics

Published Topics

1. trajectory_decision

   • Type: adore_ros2_msgs::msg::Trajectory
   • Description: Publishes the generated trajectory for execution.

2. /MAV/control/RO/path_suggestion

   • Type: std_msgs::msg::String
   • Description: Suggests an alternative trajectory during remote operations.

3. remote_operations_driving_status

   • Type: adore_ros2_msgs::msg::RemoteOperationsDrivingStatus
   • Description: Publishes the status of remote driving operations.

4. /MAV/state/modes

   • Type: std_msgs::msg::String
   • Description: Notifies the system of the current driving mode.

5. /MAV/state/position

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

Subscribed Topics

1. route

   • Type: adore_ros2_msgs::msg::Route
   • Description: Receives the current planned route.

2. vehicle_state/dynamic

   • Type: adore_ros2_msgs::msg::VehicleStateDynamic
   • Description: Updates the vehicle's dynamic state.

3. local_map

   • Type: adore_ros2_msgs::msg::Map
   • Description: Receives updates on the local map.

4. /ego_vehicle/v2x/json/rgs

   • Type: std_msgs::msg::String
   • Description: Receives safety corridor data in JSON format.

5. /DENM_out

   • Type: denm_v2_23_denm_pdu_description_msgs::msg::DENM
   • Description: Receives safety corridor data in DENM format.

6. vehicle_state/monitor

   • Type: adore_ros2_msgs::msg::StateMonitor
   • Description: Monitors the vehicle's localization and state.

7. /MAV/control/waypoint_suggestion

   • Type: std_msgs::msg::String
   • Description: Receives waypoint suggestions for remote operation.

8. planned_trajectory

   • Type: adore_ros2_msgs::msg::Trajectory
   • Description: Receives a pre-planned trajectory to follow.

9. traffic_signals

   • Type: adore_ros2_msgs::msg::TrafficSignals
   • Description: Updates traffic signal information.

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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).

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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.

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