emergency_handler#
Purpose#
Emergency Handler is a node to select proper MRM from from system failure state contained in HazardStatus.
Inner-workings / Algorithms#
State Transitions#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/system/emergency/hazard_status |
autoware_auto_system_msgs::msg::HazardStatusStamped |
Used to select proper MRM from system failure state contained in HazardStatus |
/control/vehicle_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand |
Used as reference when generate Emergency Control Command |
/localization/kinematic_state |
nav_msgs::msg::Odometry |
Used to decide whether vehicle is stopped or not |
/vehicle/status/control_mode |
autoware_auto_vehicle_msgs::msg::ControlModeReport |
Used to check vehicle mode: autonomous or manual |
/system/api/mrm/comfortable_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM comfortable stop operation is available |
/system/api/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM emergency stop operation is available |
Output#
| Name | Type | Description |
|---|---|---|
/system/emergency/shift_cmd |
autoware_auto_vehicle_msgs::msg::GearCommand |
Required to execute proper MRM (send gear cmd) |
/system/emergency/hazard_cmd |
autoware_auto_vehicle_msgs::msg::HazardLightsCommand |
Required to execute proper MRM (send turn signal cmd) |
/api/fail_safe/mrm_state |
autoware_adapi_v1_msgs::msg::MrmState |
Inform MRM execution state and selected MRM behavior |
/system/api/mrm/comfortable_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM comfortable stop |
/system/api/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM emergency stop |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| update_rate | integer | Timer callback period. | 10 | N/A |
| timeout_hazard_status | float | If the input hazard_status topic cannot be received for more than timeout_hazard_status, vehicle will make an emergency stop. |
0.5 | N/A |
| use_parking_after_stopped | boolean | If this parameter is true, it will publish PARKING shift command. | false | N/A |
| use_comfortable_stop | boolean | If this parameter is true, operate comfortable stop when latent faults occur. | false | N/A |
| turning_hazard_on.emergency | boolean | If this parameter is true, hazard lamps will be turned on during emergency state. | true | N/A |
Assumptions / Known limits#
TBD.