FISS Planner v1.0.0: FISS, FISS+, FOP and FOP+ in one C++17 core

[SS47816]

fiss_planner v1.0.0 is out. It brings the Fast Iterative Search and Sampling planners, FISS (RA-L 2022) and FISS+ (IROS 2023), together with the FOP and FOP+ baselines. All four share one C++17 core, with Python bindings, ROS 2 and ROS 1 nodes, and map support.

pip install fiss-planner

▶ Interactive replay in the browser · Documentation · Release notes and downloads

What's in it

• Fast. A planning cycle takes 0.1–1 ms with FISS or FISS+, which generate far fewer candidates than exhaustive search. The four planners share one interface and can be switched while driving.
• Map-aware. Works with Lanelet2, CommonRoad and CARLA maps:
  • lane changes follow the real lane geometry, and only where they are legal;
  • speed is limited by the speed limit and the road's curvature;
  • the planner stops at red lights.
• Keeps its distance.
  • Follows slower traffic at a set time headway.
  • Proximity costs shape every candidate.
  • A hard safety envelope applies, with a reaction-time grace for cut-ins.
  • It keeps a time gap to crossing and oncoming traffic on turns.
• Graceful fallbacks. If no candidate is safe: keep the previous plan, re-plan without the envelope, then over a shorter horizon, and brake only as a last resort.
• Explainable. Every cycle reports why candidates were rejected and which obstacle blocked the best one. Any CARLA or CommonRoad run can be recorded as MCAP for Foxglove.
• Planning to control. An optional QP smoother, and an LTV-MPC with 1–2 cm lateral error in CARLA.

Results

Closed-loop results:

• CommonRoad, 280 scenarios (all 130 NGSIM recordings plus 150 hand-crafted scenarios, QP smoother):
  • 69–71 % success with all four planners;
  • FISS plans in 0.6 ms with 18 trajectories per cycle, against 205 for FOP;
  • distance keeping nearly halves the runs that come within 0.5 m of another road user.
• CARLA 0.9.16:
  • lead vehicle, parked car, a scripted cut-in and dense traffic with every planner and both controllers, all collision-free;
  • in dense traffic over ten seeds: no collisions and no stops for passing traffic.

Full tables and protocols are in docs/benchmarks.md.

One home for the FISS series

This repository now hosts the whole project:

Repository	Status
SS47816/fiss_planner	The project (v1.0.0). The RA-L 2022 paper code stays at tag paper-ral2022.
SS47816/fiss_plus_planner	Archived; points here. The IROS 2023 paper code is at tag paper-iros2023.
SS47816/frenet_planner (formerly frenet_optimal_planner)	Archived; points here. pip install frenet-planner now installs fiss-planner.

Questions, ideas and results from your own vehicles or simulators are welcome here in Discussions; bugs go to Issues. If the project helps your research, please cite the papers (BibTeX).