diff --git a/docs/design/autoware-interfaces/components/images/vehicle-interface.drawio.svg b/docs/design/autoware-interfaces/components/images/vehicle-interface.drawio.svg new file mode 100644 index 00000000000..08cc94ba502 --- /dev/null +++ b/docs/design/autoware-interfaces/components/images/vehicle-interface.drawio.svg @@ -0,0 +1,4 @@ + + + +
Vehicle Interface Component
Vehicle Interface Component
Vehicle statuses
(vehicle format and protocol)
Vehicle statuses...
Vehicle commands
Vehicle commands
Vehicle statuses
Vehicle statuses
Control Component
Control Component
Vehicle command adapter
Vehicle command adapter
Vehicle
Vehicle
Vehicle interface
Vehicle interface
Vehicle commands
(vehicle format)
Vehicle commands...
Vehicle statuses
(vehicle format)
Vehicle statuses...
Vehicle commands
(vehicle format and protocol)
Vehicle commands...Text is not SVG - cannot display \ No newline at end of file diff --git a/docs/design/autoware-interfaces/components/vehicle-interface.md b/docs/design/autoware-interfaces/components/vehicle-interface.md index 61798f60bb4..4074f3a0897 100644 --- a/docs/design/autoware-interfaces/components/vehicle-interface.md +++ b/docs/design/autoware-interfaces/components/vehicle-interface.md @@ -1,70 +1,53 @@ # Vehicle Interface -![Node diagram](images/Vehicle-Interface-Bus-ODD-Architecture.drawio.svg) +This page describes the Vehicle Interface Component. Please refer to the [Vehicle Interface design document](../../autoware-architecture/vehicle/) for high-level concepts and data flow. -The `Vehicle Interface` receives the `Vehicle Signal Commands` and `Vehicle Control Commands` and publishes the vehicle status. It also communicates with vehicle by the vehicle-specific protocol. +![Vehicle interface diagram](images/vehicle-interface.drawio.svg) -The `Gate` switches multiple `Vehicle Control Commands`. These signals include autonomous diving command, joystick, remote control, and emergency operation, etc. -The `Adapter` converts generalized control command (target steering, steering rate, velocity, acceleration, jerk) into vehicle-specific control values (steering-torque, wheel-torque, voltage, pressure, accel pedal position, etc). +The `Vehicle Interface Component` receives `Vehicle commands` and publishes `Vehicle statuses`. +It communicates with the vehicle by the vehicle-specific protocol. -## Inputs +The optional `Vehicle command adapter` converts generalized control command (target steering, steering rate, velocity, acceleration) into vehicle-specific control values (steering-torque, wheel-torque, voltage, pressure, acceleration pedal position, etc). -### Error status +## Communication with the vehicle -(See Inputs of Planning.) +The interface to communicate with the vehicle varies between brands and models. +For example a vehicle specific message protocol like CAN (Controller Area Network) with a ROS 2 interface (e.g., [pacmod](https://github.com/astuff/pacmod3)). +In addition, an Autoware specific interface is often necessary (e.g., [pacmod_interface](https://github.com/tier4/pacmod_interface/tree/main/pacmod_interface)). -### Vehicle Control Command +## Vehicle adapter -(See Output of Control.) +Autoware's basic control command express the target motion of the vehicle in terms of speed, acceleration, steering angle, and steering rate. +This may not be suitable for all vehicles and we thus distinguish between two types of vehicles. -### Vehicle Signals Commands +- Type 1: vehicle that is directly controlled by a subset of speed, acceleration, steering angle, and steering rate. +- Type 2: vehicle that uses custom commands (motor torque, voltage, pedal pressure, etc). -Commands for various elements of the vehicle unrelated to motion. Published by the Planning module. +For vehicles of type 2, +a vehicle adapter is necessary to convert the Autoware control command into the vehicle specific commands. +For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/) +which converts the target speed and steering angle to acceleration, steering, and brake mechanical inputs. -## Outputs +## Inputs from Autoware -### Vehicle Signal Reports +| Name | Topic | Type | Description | +| ---------------------- | -------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------- | +| Control command | `/control/command/control_cmd` | [autoware_auto_control_msgs/msg/AckermannControlCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_control_msgs/msg/AckermannControlCommand.idl) | Target controls of the vehicle (steering angle, velocity, ...) | +| Control mode command | `/control/control_mode_request` | [ControlModeCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/srv/ControlModeCommand.srv) | Request to switch between manual and autonomous driving | +| Gear command | `/control/command/gear_cmd` | [autoware_auto_vehicle_msgs/msg/GearCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearCommand.idl) | Target gear of the vehicle | +| Hazard lights command | `/control/command/hazard_lights_cmd` | [autoware_auto_vehicle_msgs/msg/HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl) | Target values of the hazard lights | +| Turn indicator command | `/control/command/turn_indicators_cmd` | [autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) | Target values of the turn signals | -Reports for various elements of the vehicle unrelated to motion. Published by the Vehicle Interface. +## Outputs to Autoware -### Vehicle Odometry - -Odometry of the vehicle. Used by the Localization module to update the pose of the vehicle in the map. - -- [geometry_msgs/TwistWithCovarianceStamped](https://docs.ros.org/en/melodic/api/geometry_msgs/html/msg/TwistWithCovarianceStamped.html) odometry - -### Steering Status - -Steering of the ego vehicle. Published by the Vehicle Interface. - -- Steering message ([github discussion](https://github.com/autowarefoundation/autoware/discussions/2462)). - - builtin_interfaces::msg::Time stamp - - float32 steering_angle - -### Actuation Status - -Actuation status of the ego vehicle for acceleration, steering, and brake. This represents the reported physical efforts exerted by the vehicle actuators. Published by the Vehicle Interface. - -- ActuationStatus ([github discussion](https://github.com/autowarefoundation/autoware/discussions/2462)). - - builtin_interfaces::msg::Time stamp - - float32 acceleration - - float32 steering - - float32 brake - -**The message definition is under discussion.** - -### Actuation Command - -Actuation command sent to the ego vehicle. This represents the requested physical efforts to be exerted by the vehicle actuators. Published by the Vehicle Interface as generated by the adapter. - -- ActuationCommand ([github discussion](https://github.com/autowarefoundation/autoware/discussions/2462).) - - builtin_interfaces::msg::Time stamp - - float32 acceleration - - float32 steering - - float32 brake - -**The message definition is under discussion.** - -### Vehicle Communication - -Vehicle specific messages protocol like CAN (Controller Area Network). +| Name | Topic | Type | Optional ? | Description | +| ---------------------- | ---------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | ----------------------------------------------------------------------- | +| Actuation status | `/vehicle/status/actuation_status` | [tier4_vehicle_msgs/msg/ActuationStatusStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationStatusStamped.msg) | Yes (vehicle with mechanical inputs) | Current acceleration, brake, and steer values reported by the vehicle | +| Control mode | `/vehicle/status/control_mode` | [autoware_auto_vehicle_msgs/msg/ControlModeReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/ControlModeReport.idl) | | Current control mode (manual, autonomous, ...) | +| Door status | `/vehicle/status/door_status` | [tier4_api_msgs/msg/DoorStatus](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_api_msgs/msg/DoorStatus.msg) | Yes | Current door status | +| Gear report | `/vehicle/status/gear_status` | [autoware_auto_vehicle_msgs/msg/GearReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearReport.idl) | | Current gear of the vehicle | +| Hazard light status | `/vehicle/status/hazard_lights_status` | [autoware_auto_vehicle_msgs/msg/HazardLightsReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsReport.idl) | | Current hazard lights status | +| Steering status | `/vehicle/status/steering_status` | [autoware_auto_vehicle_msgs/msg/SteeringReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/SteeringReport.idl) | | Current steering angle of the steering tire | +| Steering wheel status | `/vehicle/status/steering_wheel_status` | [tier4_vehicle_msgs/msg/SteeringWheelStatusStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/SteeringWheelStatusStamped.msg) | Yes | Current steering wheel angle | +| Turn indicators status | `/vehicle/status/turn_indicators_status` | [autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport.idl) | | Current state of the left and right turn indicators | +| Velocity status | `/vehicle/status/velocity_status` | [autoware_auto_vehicle_msgs/msg/VelocityReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/VelocityReport.idl) | | Current velocities of the vehicle (longitudinal, lateral, heading rate) |