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
| 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
Node Parameters
| Name |
Type |
Default Value |
Explanation |
| update_rate |
int |
10 |
Timer callback period. |
Core Parameters
| Name |
Type |
Default Value |
Explanation |
| timeout_hazard_status |
double |
0.5 |
If the input hazard_status topic cannot be received for more than timeout_hazard_status, vehicle will make an emergency stop. |
| use_parking_after_stopped |
bool |
false |
If this parameter is true, it will publish PARKING shift command. |
| turning_hazard_on.emergency |
bool |
true |
If this parameter is true, hazard lamps will be turned on during emergency state. |
| use_comfortable_stop |
bool |
false |
If this parameter is true, operate comfortable stop when latent faults occur. |
Assumptions / Known limits
TBD.