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
timeout_takeover_request	float	Transition to MRR_OPERATING if the time from the last takeover request exceeds timeout_takeover_request.	10.0	N/A
use_takeover_request	boolean	If this parameter is true, the handler will record the time and make take over request to the driver when emergency state occurs.	false	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.