vehicle utils

Vehicle utils provides a convenient library used to check vehicle status.

Feature

The library contains following classes.

vehicle_stop_checker

This class check whether the vehicle is stopped or not based on localization result.

Subscribed Topics

Name	Type	Description
/localization/kinematic_state	nav_msgs::msg::Odometry	vehicle odometry

Parameters

Name	Type	Default Value	Explanation
velocity_buffer_time_sec	double	10.0	odometry buffering time [s]

Member functions

bool isVehicleStopped(const double stop_duration)

• Check simply whether the vehicle is stopped based on the localization result.
• Returns true if the vehicle is stopped, even if system outputs a non-zero target velocity.

Example Usage

Necessary includes:

#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>

1.Create a checker instance.

class SampleNode : public rclcpp::Node
{
public:
  SampleNode() : Node("sample_node")
  {
    vehicle_stop_checker_ = std::make_unique<VehicleStopChecker>(this);
  }

  std::unique_ptr<VehicleStopChecker> vehicle_stop_checker_;

  bool sampleFunc();

  ...
}

2.Check the vehicle state.

bool SampleNode::sampleFunc()
{
  ...

  const auto result_1 = vehicle_stop_checker_->isVehicleStopped();

  ...

  const auto result_2 = vehicle_stop_checker_->isVehicleStopped(3.0);

  ...
}

vehicle_arrival_checker

This class check whether the vehicle arrive at stop point based on localization and planning result.

Subscribed Topics

Name	Type	Description
/localization/kinematic_state	nav_msgs::msg::Odometry	vehicle odometry
/planning/scenario_planning/trajectory	autoware_auto_planning_msgs::msg::Trajectory	trajectory

Parameters

Name	Type	Default Value	Explanation
velocity_buffer_time_sec	double	10.0	odometry buffering time [s]
th_arrived_distance_m	double	1.0	threshold distance to check if vehicle has arrived at target point [m]

Member functions

bool isVehicleStopped(const double stop_duration)

• Check simply whether the vehicle is stopped based on the localization result.
• Returns true if the vehicle is stopped, even if system outputs a non-zero target velocity.

bool isVehicleStoppedAtStopPoint(const double stop_duration)

• Check whether the vehicle is stopped at stop point based on the localization and planning result.
• Returns true if the vehicle is not only stopped but also arrived at stop point.

Example Usage

Necessary includes:

#include <tier4_autoware_utils/vehicle/vehicle_state_checker.hpp>

1.Create a checker instance.

class SampleNode : public rclcpp::Node
{
public:
  SampleNode() : Node("sample_node")
  {
    vehicle_arrival_checker_ = std::make_unique<VehicleArrivalChecker>(this);
  }

  std::unique_ptr<VehicleArrivalChecker> vehicle_arrival_checker_;

  bool sampleFunc();

  ...
}

2.Check the vehicle state.

bool SampleNode::sampleFunc()
{
  ...

  const auto result_1 = vehicle_arrival_checker_->isVehicleStopped();

  ...

  const auto result_2 = vehicle_arrival_checker_->isVehicleStopped(3.0);

  ...

  const auto result_3 = vehicle_arrival_checker_->isVehicleStoppedAtStopPoint();

  ...

  const auto result_4 = vehicle_arrival_checker_->isVehicleStoppedAtStopPoint(3.0);

  ...
}

Assumptions / Known limits

vehicle_stop_checker and vehicle_arrival_checker cannot check whether the vehicle is stopped more than velocity_buffer_time_sec second.