Vehicle Interface & PACMod2


The Vehicle Interface component provides an interface between Autoware and a vehicle that passes control signals to the vehicle’s drive-by-wire system and receives vehicle information that is passed back to Autoware.

Vehicle Lateral Interface Longitudinal Interface
Polaris GEM Vehicle steering angle/rate accel/brake pedal position
Lexus steering angle accel/brake pedal position
Note: Acceleration lookup table conversion for longitudinal.

Input Topics: From AutowareAuto

Input Topics: From PACMod2

Output Topics: To AutowareAuto

Output Topics: To PACMod2

ROS Parameters

Architecture

  • A Raw Vehicle Command Converter component that will pass through vehicle commands from the Control component if velocity/acceleration control is supported by the drive-by-wire system. Otherwise, the Control commands will be modified according to the control method (eg: converting a target acceleration from the Control component to a vehicle specific accel/brake pedal value through the use of an acceleration map)

  • A Vehicle Interface component (vehicle specific) that acts as an interface between Autoware and a vehicle to communicate control signals and to obtain information about the vehicle (steer output, tyre angle etc)

    • Each component contains static nodes of Autoware, while each module can be dynamically loaded and unloaded (corresponding to C++ classes). The mechanism of the Vehicle Interface component is depicted by the following figures:


    Features

    (1) Converting Autoware control commands to vehicle specific command
    (2) Converting vehicle specific status information to Autoware status message
    (3) Disengage autonomous driving via manual intervention
    (4) Optional controls: turn indicator, hazard lights, etc

    Reference

    [1] Vehicle Interface Design, Link 1, Link 2
    [2] PACMod3 Interface for AutowareAuto, Link
    [3] PACMod2 Driver & PACMod2 Message, Link 1, Link 2,


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