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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_system_msgs::msg::HazardStatusStamped Used to select proper MRM from system failure state contained in HazardStatus
/control/vehicle_cmd autoware_vehicle_msgs::msg::VehicleCommand Used as reference when generate Emergency Control Command
/localization/twist geometry_msgs::msg::TwistStamped Used to decide whether vehicle is stopped or not

Output#

Name Type Description
/system/emergency/control_cmd autoware_control_msgs::msg::ControlCommandStamped Required to execute proper MRM
"/system/emergency/shift_cmd" autoware_vehicle_msgs::msg::ShiftStamped Required to execute proper MRM
"/system/emergency/turn_signal_cmd" autoware_vehicle_msgs::msg::TurnSignal Required to execute proper MRM
"/system/emergency/emergency_state" autoware_system_msgs::msg::EmergencyStateStamped Used to inform the emergency situation of the vehicle

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.

Assumptions / Known limits#

TBD.