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| # Vehicle Interface | ||
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| 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. | ||
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| 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. | ||
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| 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). | ||
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| ## Inputs from Autoware | ||
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| | 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, ...) | | ||
| | Emergency command | `/control/command/emergency_cmd` | [tier4_vehicle_msgs/msg/VehicleEmergencyStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/VehicleEmergencyStamped.msg) | Whether the vehicle should enter its emergency mode | | ||
| | 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 | | ||
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| ## Outputs to Autoware | ||
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| | Name | Topic | Type | 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) | 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) | 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) | 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) | | ||
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| ## Communication with the vehicle | ||
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| 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 ROS2 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)). | ||
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| ### Custom control commands | ||
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| Autoware's basic control command (speed, acceleration, steering angle, steering rate) may not be suitable for all vehicles. | ||
| For example, some vehicles expects values for voltage, motor torque, pedal pressure, etc. | ||
| In such case, the Autoware control command must be converted. | ||
| For an example, see the [raw_vehicle_cmd_converter](https://autowarefoundation.github.io/autoware.universe/main/vehicle/raw_vehicle_cmd_converter/). | ||
