emergency_handler

Feature Details

emergency hold

emergency_handler has an optional feature to hold emergency status once after it becomes emergency status. This is controlled by use_emergency_hold parameter.

It's useful for keeping the error reasons. For example, when some errors occurred and recovered soon, it's difficult to know why they happened, because the error diagnostics will disappear after recovery.

Since manual driving gives unexpected effects to the autonomous driving system, we usually don't need to know the error reasons during manual driving, but sometimes you'll want to know them for debugging. So you can choose whether to hold emergency status during manual driving. This is controlled by use_emergency_hold_in_manual_driving parameter.

It's implemented as whether to update status in updateHazardStatus() function. If there is no update, the status will be kept.

State Transition

Flowchart