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Vehicle Input

Simulated Autoware override input

Overview

Autoware accepts manual steering and pedal control by the driver during Autonomus Driving. This allows the driver to shift from Autoware's Autonomous driving to Driver's Manual driving.

stateDiagram-v2
    AUTONOMOUS --> MANUAL : override input
    MANUAL --> AUTONOMOUS : restart autonomous driving

Q. How to override input ?
A. Control steering and pedals with any device.

Q. How to restart autonomous driving ?
A. The control mode can be changed by input/control_mode_request ros2 service communication.

Info

sample engage command.
ros2 service call input/control_mode_request autoware_vehicle_msgs/srv/ControlModeCommand "mode: 1"

The following modes are supported.
AUTONOMOUS = 1
MANUAL = 4

In the real world, Autoware switches modes by publishing ControlMode(AUTONOMOUS or MANUAL) from the vehicle, and AWSIM simulates this as well. Current ControlMode can be checked from the AWSIM UI.

AUTONOMOUS MANUAL

ControlMode at AWSIM start is AUTONOMOUS.

AWSIM supports these device inputs

Keyboard

key assign

Button Feature
D Switch to move forward (drive gear)
R Switch to move backwards (reverse gear)
N Switch to neutral
P Switch to parking gear
Up arrow Forward acceleration
Down arrow Reverse acceleration (decelerate)
Left/Right arrow Turning
1 Turn left blinker on (right off)
2 Turn right blinker on (left off)
3 Turn on hazard lights
4 Turn off blinker or hazard lights

Logitech G29 (Linux only)

AWSIM supports the Logitech G29 device.

Key assign

Button Feature
Triangle Switch to move forward (drive gear)
Square Switch to move backwards (reverse gear)
Circle Switch to neutral
Cross Switch to parking gear
Accel pedal Forward acceleration
Brake pedal Reverse acceleration (decelerate)
Steering wheel Turning
Right arrow Turn left blinker on (right off)
Left arrow Turn right blinker on (left off)
Up arrow Turn on hazard lights
Down arrow Turn off blinker or hazard lights

How to setup Logitech G29

  1. Connect the Logitech G29 to your PC
  2. Check the device path for G29. For example, use the $ evtest command to get a path such as /dev/input/event*

  3. Apply G29 device path to AWSIM. If you run AutowareSimulation.unity in the demo player (AWSIM.x86_64) or UnityEditor, it is configurable in JSON.
    Set the path to G29DevicePath in config.json. e.g. "G29DevicePath": "/dev/input/event8

  4. Start AWSIM and select Logitech G29 from the UI. If "connected" is displayed, the vehicle can be controlled by Logitech g29.

Warning

Steering wheel must be set to center before driving.

Advanced configuration

The following parameters can be adjusted in VehicleG29Input.cs

parameter feature
Device Path Device Event Path
Allowable Diff Difference in steering determined to be an override (0:min, 1:max)
Kp PID Gain Proportinal Parameters of FFB
Ki PID Gain Integral Parameters of FFB
Kd PID Gain Derivative Parameters of FFB
Acceleration Threshold Override Judgment Value due to Accelerator Pedal Depression (0:min, 1:max)
Steering Threshold Override Judgment Value due to Steering (0:min, 1:max)