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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#

fail-safe-state

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#

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.