mrm_handler

Purpose

MRM Handler is a node to select a proper MRM from a system failure state contained in OperationModeAvailability.

Inner-workings / Algorithms

State Transitions

Inputs / Outputs

Input

Name	Type	Description
/localization/kinematic_state	nav_msgs::msg::Odometry	Used to decide whether vehicle is stopped or not
/system/operation_mode/availability	tier4_system_msgs::msg::OperationModeAvailability	Used to select proper MRM from system available mrm behavior contained in operationModeAvailability
/vehicle/status/control_mode	autoware_vehicle_msgs::msg::ControlModeReport	Used to check vehicle mode: autonomous or manual
/system/mrm/emergency_stop/status	tier4_system_msgs::msg::MrmBehaviorStatus	Used to check if MRM emergency stop operation is available
/system/mrm/comfortable_stop/status	tier4_system_msgs::msg::MrmBehaviorStatus	Used to check if MRM comfortable stop operation is available
/system/mrm/pull_over_manager/status	tier4_system_msgs::msg::MrmBehaviorStatus	Used to check if MRM pull over operation is available
/api/operation_mode/state	autoware_adapi_v1_msgs::msg::OperationModeState	Used to check whether the current operation mode is AUTO or STOP.

Output

Name	Type	Description
/system/emergency/gear_cmd	autoware_vehicle_msgs::msg::GearCommand	Required to execute proper MRM (send gear cmd)
/system/emergency/hazard_lights_cmd	autoware_vehicle_msgs::msg::HazardLightsCommand	Required to execute proper MRM (send turn signal cmd)
/system/fail_safe/mrm_state	autoware_adapi_v1_msgs::msg::MrmState	Inform MRM execution state and selected MRM behavior
/system/mrm/emergency_stop/operate	tier4_system_msgs::srv::OperateMrm	Execution order for MRM emergency stop
/system/mrm/comfortable_stop/operate	tier4_system_msgs::srv::OperateMrm	Execution order for MRM comfortable stop
/system/mrm/pull_over_manager/operate	tier4_system_msgs::srv::OperateMrm	Execution order for MRM pull over

Parameters

Name	Type	Description	Default	Range
update_rate	integer	Timer callback period.	10	N/A
timeout_operation_mode_availability	float	If the input operation_mode_availability topic cannot be received for more than timeout_operation_mode_availability, vehicle will make an emergency stop.	0.5	N/A
timeout_call_mrm_behavior	float	If a service is requested to the mrm operator and the response is not returned by timeout_call_mrm_behavior, the timeout occurs.	0.01	N/A
timeout_cancel_mrm_behavior	float	If a service is requested to the mrm operator and the response is not returned by timeout_cancel_mrm_behavior, the timeout occurs.	0.01	N/A
use_emergency_holding	boolean	If this parameter is true, the handler does not recover to the NORMAL state.	False	N/A
timeout_emergency_recovery	float	If the duration of the EMERGENCY state is longer than timeout_emergency_recovery, it does not recover to the NORMAL state.	5.0	N/A
use_parking_after_stopped	boolean	If this parameter is true, it will publish PARKING shift command.	false	N/A
use_pull_over	boolean	If this parameter is true, operate pull over when latent faults occur.	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.