Vehicle Cmd Gate

Overview

Vehicle Cmd Gate module is responsible for Systematic post-processing.

Role

Roles of Vehicle Cmd Gate module are as follows.

• Reshape the vehicle control command
  • Vehicle Cmd Gate module convert autoware_control_msgs/ControlCommandStamped to autoware_vehicle_msgs/VehicleCommand. This conversion includes the addition of gear shifting command.
• Reflect engage command to control signal for vehicles
  • Until true command is sent as engage command, Vehicle Cmd Gate module does not pass the input command information as output.
• Select the command values (Trajectory follow command, Remote manual command)
• Observe the maximum speed limit, maximum lateral/longitudinal jerk
• Stop urgently when emergency command is received

Input

• Control commands from Trajectory Follower module(autoware_control_msgs/ControlCommandStamped)
• Remote Control commands(Undefined[TBD])
• Engage Commands(std_msgs/Bool)

The main inputs included in autoware_control_msgs/ControlCommandStamped are as follows:

Input	Data Type
Velocity	std_msgs/Float64
Acceleration	std_msgs/Float64
Steering angle	std_msgs/Float64
Steering angle velocity	std_msgs/Float64

Output

• Control signal for vehicles (autoware_vehicle_msgs/VehicleCommand)

The main inputs included in autoware_vehicle_msgs/VehicleCommand are as follows:

Output	Data Type
Velocity	std_msgs/Float64
Acceleration	std_msgs/Float64
Steering angle	std_msgs/Float64
Steering angle velocity	std_msgs/Float64
Gear shifting command	std_msgs/Int32
Emergency command	std_msgs/Int32

Note that most of above commands are output as 0 until true command is sent as engage command.