Pix底盘接口

Overview

Pixmoving的线控底盘，具有自动驾驶接入能力. 我们已经设计了对接Autoware.universe的接口。

注意

源代码请参考pix_driver

在你使用接口之前，请先确保ros2_socketcan在你的工作空间，并已经启动。

角色

Pix底盘接口有以下3个主要功能:

• 在CAN frames和pix_hooke_driver_msgs之间翻译
• 将Autoware的控制指令换完成为pix_hooke_driver_msgs
• 将pix_hooke_driver_msgs内的车辆状态转换为Autoware messages

软件设计

Control Command Node

输入

Control Command Node的输入

Input	Topic(Data Type)	Explanation
autonomous driving to vehicle drive control	/pix_hooke/a2v_drivectrl_130 (pix_hooke_driver_msgs/msg/A2vDriveCtrl)	A2vDriveCtrl
autonomous driving to vehicle brake control	/pix_hooke/a2v_brakectrl_131 (pix_hooke_driver_msgs/msg/A2vBrakeCtrl)	A2vBrakeCtrl
autonomous driving to vehicle steering control	/pix_hooke/a2v_steerctrl_132 (pix_hooke_driver_msgs/msg/A2vSteerCtrl)	A2vSteerCtrl
autonomous driving to vehicle control	/pix_hooke/a2v_vehiclectrl_133 (pix_hooke_driver_msgs/msg/A2vVehicleCtrl)	A2vVehicleCtrl
autonomous driving to vehicle motor control	/pix_hooke/a2v_wheelctrl_135 (pix_hooke_driver_msgs/msg/A2vWheelCtrl)	A2vWheelCtrl

A2vDriveCtrl

下表为A2vDriveCtrl(self-driving to vehicle drive control)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_driver_en_ctrl	std_msgs/int8	使能/失能底盘纵向加速控制 {0: 'ACU_CHASSISDRIVERENCTRL_DISABLE', 1: 'ACU_CHASSISDRIVERENCTRL_ENABLE'}
acu_chassis_driver_mode_ctrl	std_msgs/int8	目标纵向控制模式 {0: 'ACU_CHASSISDRIVERMODECTRL_SPEED_CTRL_MODE', 1: 'ACU_CHASSISDRIVERMODECTRL_THROTTLE_CTRL_MODE', 2: 'ACU_CHASSISDRIVERMODECTRL_RESERVE', 3: 'ACU_CHASSISDRIVERMODECTRL_RESERVE'}
acu_chassis_gear_ctrl	std_msgs/int8	目标档位 {0: 'ACU_CHASSISGEARCTRL_DEFAULT_N', 1: 'ACU_CHASSISGEARCTRL_D', 2: 'ACU_CHASSISGEARCTRL_N', 3: 'ACU_CHASSISGEARCTRL_R'}
acu_chassis_speed_ctrl	std_msgs/float32	目标速度 [m/s]
acu_chassis_throttle_pdl_target	std_msgs/float32	目标加速踏板开度 0.0-100.0

A2vBrakeCtrl

下表为A2vBrakeCtrl(self-driving to vehicle brake control)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_brake_en	std_msgs/int8	使能/失能底盘刹车控制 0: 'ACU_CHASSISBRAKEEN_DISABLE', 1: 'ACU_CHASSISBRAKEEN_ENABLE'
acu_chassis_aeb_ctrl	std_msgs/int8	使能/失能AEB 0: 'ACU_CHASSISAEBCTRL_DISABLE', 1: 'ACU_CHASSISAEBCTRL_ENABLE'
acu_chassis_brake_pdl_target	std_msgs/float32	目标刹车踏板开度 0.0-100.0
acu_chassis_epb_ctrl	std_msgs/int8	驻车控制 0: 'ACU_CHASSISEPBCTRL_DEFAULT', 1: 'ACU_CHASSISEPBCTRL_BRAKE', 2: 'ACU_CHASSISEPBCTRL_RELEASE'

A2vSteerCtrl

下表为A2vSteerCtrl(self-driving to vehicle steering control)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_steer_en_ctrl	std_msgs/int8	使能/失能横向/转向控制 {0: 'ACU_CHASSISSTEERENCTRL_DISABLE', 1: 'ACU_CHASSISSTEERENCTRL_ENABLE'}
acu_chassis_steer_mode_ctrl	std_msgs/int8	转向模式 {0: 'ACU_CHASSISSTEERMODECTRL_FRONT_ACKERMAN', 1: 'ACU_CHASSISSTEERMODECTRL_SAME_FRONT_AND_BACK', 2: 'ACU_CHASSISSTEERMODECTRL_FRONT_DIFFERENT_BACK', 3: 'ACU_CHASSISSTEERMODECTRL_BACK_ACKRMAN', 4: 'ACU_CHASSISSTEERMODECTRL_FRONT_BACK'}
acu_chassis_steer_angle_target	std_msgs/int32	目标转向角， -500-500 从左至右。 当ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK时， ACU_ChassisSteerAngleTarget智能控制前转向
acu_chassis_steer_angle_rear_target	std_msgs/int32	后轮目标转向脚-500-500。 只有当ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK起作用
acu_chassis_steer_angle_speed_ctrl	std_msgs/float32	目标转向角速度0-500

A2vVehicleCtrl

下表为A2vVehicleCtrl(self-driving to vehicle Vehicle Control)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_vehicle_pos_lamp_ctrl	std_msgs/int8	示廓灯控制 {0: 'ACU_VEHICLEPOSLAMPCTRL_OFF', 1: 'ACU_VEHICLEPOSLAMPCTRL_ON'}
acu_vehicle_head_lamp_ctrl	std_msgs/int8	头灯控制 {0: 'ACU_VEHICLEHEADLAMPCTRL_OFF', 1: 'ACU_VEHICLEHEADLAMPCTRL_ON'}
acu_vehicle_left_lamp_ctrl	std_msgs/int8	左转向灯控制 {0: 'ACU_VEHICLELEFTLAMPCTRL_OFF', 1: 'ACU_VEHICLELEFTLAMPCTRL_ON'}
acu_vehicle_right_lamp_ctrl	std_msgs/int8	右转向灯控制 {0: 'ACU_VEHICLERIGHTLAMPCTRL_OFF', 1: 'ACU_VEHICLERIGHTLAMPCTRL_ON'}
acu_vehicl_high_beam_ctrl	std_msgs/int8	前大灯控制 {0: 'ACU_VEHICLEHIGHBEAMCTRL_OFF', 1: 'ACU_VEHICLEHIGHBEAMCTRL_ON'}
acu_vehicle_fog_lamp_ctrl	std_msgs/int8	雾灯控制 {0: 'ACU_VEHICLEFOGLAMPCTRL_OFF', 1: 'ACU_VEHICLEFOGLAMPCTRL_ON'}
acu_vehicle_body_light_crtl	std_msgs/int8	车体灯控制 {0: 'ACU_VEHICLEBODYLIGHTCTRL_OFF', 1: 'ACU_VEHICLEBODYLIGHTCTRL_ON'}
acu_vehicle_read_light_crtl	std_msgs/int8	阅读灯控制(保留) {0: 'ACU_VEHICLEREADLIGHTCTRL_OFF', 1: 'ACU_VEHICLEREADLIGHTCTRL_ON'}
acu_vehicle_voice	std_msgs/int8	车辆声音控制(保留) {0: 'ACU_VEHICLEVOICE_OFF', 1: 'ACU_VEHICLEVOICE_TURN_LEFT', 2: 'ACU_VEHICLEVOICE_TURN_RIGHT', 3: 'ACU_VEHICLEVOICE_BACKWARD'}
acu_vehicle_wipers_crtl	std_msgs/int8	雨刮器控制(保留) {0: 'ACU_VEHICLEWIPERSCTRL_OFF', 1: 'ACU_VEHICLEWIPERSCTRL_LOW', 2: 'ACU_VEHICLEWIPERSCTRL_MID', 3: 'ACU_VEHICLEWIPERSCTRL_HIGH'}
acu_vehicle_door_crtl	std_msgs/int8	车门控制(保留) {0: 'ACU_VEHICLEDOORCTRL_DEFAULT', 1: 'ACU_VEHICLEDOORCTRL_CLOSE', 2: 'ACU_VEHICLEDOORCTRL_OPEN'}
acu_vehicle_window_crtl	std_msgs/int8	车窗控制(保留) {0: 'ACU_VEHICLEWINDOWCTRL_DEFAULT', 1: 'ACU_VEHICLEWINDOWCTRL_CLOSE', 2: 'ACU_VEHICLEWINDOWCTRL_OPEN'}
acu_chassis_speed_limite_mode	std_msgs/int8	速度模式 {0: 'ACU_CHASSISSPEEDLIMITEMODE_DEFAULT', 1: 'ACU_CHASSISSPEEDLIMITEMODE_LIMIT'}
acu_chassis_speed_limite_val	std_msgs/int32	限速控制 m/s

A2vWheelCtrl

下表为A2vWheelCtrl(self-driving to vehicle motor control)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_motor_torque_lf_crtl	std_smgs/float32	左前电机扭矩控制 [Nm] -200.0-200.0
acu_motor_torque_rf_crtl	std_smgs/float32	右前点击扭矩控制 [Nm] -200.0-200.0
acu_motor_torque_lr_crtl	std_smgs/float32	左后点击扭矩控制 [Nm] -200.0-200.0
acu_motor_torque_rr_crtl	std_smgs/float32	右后点击扭矩控制 [Nm] -200.0-200.0

输出

Control Command Node输出can_msgs/Frame至Socket CAN Interface.

Output (to Socket CAN Interface)	Topic(Data Type)	Explanation
can frame	/to_can_bus (can_msgs/msg/Frame)	CAN Frames控制信号

Report Parser Node

输入

Report Parser Node的输入是来自Socket CAN Interface的can_msgs/Frame

Input (From Socket CAN Interface)	Topic(Data Type)	Explanation
can frame	/from_can_bus (can_msgs/msg/Frame)	CAN Frames的反馈信号

输出

Report Parser Node的输出

Input	Topic(Data Type)	Explanation
车辆发送到自动驾驶的驾驶反馈	/pix_hooke/v2a_drivestafb (pix_hooke_driver_msgs/msg/V2aDriveStaFb)	V2aDriveStaFb
车辆发送到自动驾驶的刹车状态反馈	/pix_hooke/v2a_brakestafb (pix_hooke_driver_msgs/msg/V2aBrakeStaFb)	V2aBrakeStaFb
车辆发送到自动驾驶的转向状态反馈	/pix_hooke/v2a_steerstafb (pix_hooke_driver_msgs/msg/V2aSteerStaFb)	V2aSteerStaFb
车辆发送到自动驾驶的车辆工作状态反馈	/pix_hooke/v2a_vehicleworkstafb (pix_hooke_driver_msgs/msg/V2aVehicleWorkStaFb)	V2aVehicleWorkStaFb
车辆发送到自动驾驶的电池状态反馈	/pix_hooke/v2a_powerstafb (pix_hooke_driver_msgs/msg/V2aPowerStaFb)	V2aPowerStaFb
车辆发送到自动驾驶的车辆状态反馈	/pix_hooke/v2a_vehiclestafb (pix_hooke_driver_msgs/msg/V2aVehicleStaFb)	V2aVehicleStaFb
车辆发送到自动驾驶的错误状态反馈	/pix_hooke/v2a_vehiclefltsta (pix_hooke_driver_msgs/msg/V2aVehicleFltSta)	V2aVehicleFltSta
车辆发送到自动驾驶的轮速反馈	/pix_hooke/v2a_chassiswheelrpmfb (pix_hooke_driver_msgs/msg/V2aChassisWheelRpmFb)	V2aChassisWheelRpmFb
车辆发送到自动驾驶的胎压反馈	/pix_hooke/v2a_chassiswheeltirepressfb (pix_hooke_driver_msgs/msg/V2aChassisWheelTirePressFb)	V2aChassisWheelTirePressFb
车辆发送到自动驾驶的车轮角度反馈	/pix_hooke/v2a_chassiswheelanglefb (pix_hooke_driver_msgs/msg/V2aChassisWheelAngleFb)	V2aChassisWheelAngleFb

V2aDriveStaFb

下表为V2aDriveStaFb(vehicle to autonomous driving status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_driver_en_sta	std_msgs/int8	纵向控制使能反馈 {0: 'VCU_CHASSISDRIVERENSTA_DISABLE', 1: 'VCU_CHASSISDRIVERENSTA_ENABLE'}
vcu_chassis_diver_slopover	std_msgs/int8	纵向控制过载反馈 {0: 'VCU_CHASSISDIVERSLOPOVER_NORMAL', 1: 'VCU_CHASSISDIVERSLOPOVER_OVER_SLOP'}
vcu_chassis_driver_mode_sta	std_msgs/int8	纵向控制模式反馈{0: 'VCU_CHASSISDRIVERMODESTA_SPEED_CTRL_MODE', 1: 'VCU_CHASSISDRIVERMODESTA_THROTTLE_CTRL_MODE', 2: 'VCU_CHASSISDRIVERMODESTA_RESERVE', 3: 'VCU_CHASSISDRIVERMODESTA_RESERVE'}`
vcu_chassis_gear_fb	std_msgs/int8	档位反馈 {0: 'VCU_CHASSISGEARFB_NO_USE', 1: 'VCU_CHASSISGEARFB_D', 2: 'VCU_CHASSISGEARFB_N', 3: 'VCU_CHASSISGEARFB_R'}
vcu_chassis_speed_fb	std_msgs/float32	速度反馈 [m/s] -50.0-50.0
vcu_chassis_throttle_padl_fb	std_msgs/float32	加速踏板开度反馈 0.0-100.0
vcu_chassis_accceleration_fb	std_msgs/float32	加速度反馈 [m/s2] -20.0-20.0

V2aBrakeStaFb

下表为V2aBrakeStaFb(vehicle to autonomous driving braking status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_brake_en_sta	std_msgs/int8	刹车控制使能反馈 {0: 'VCU_CHASSISBRAKEENSTA_DISABLE', 1: 'VCU_CHASSISBRAKEENSTA_ENABLE'}
vcu_vehicle_brake_lamp_fb	std_msgs/int8	刹车灯状态反馈 {0: 'VCU_VEHICLEBRAKELAMPFB_OFF', 1: 'VCU_VEHICLEBRAKELAMPFB_ON'}
vcu_chassis_epb_fb	std_msgs/int8	EPB状态反馈 {0: 'VCU_CHASSISEPBFB_RELEASE', 1: 'VCU_CHASSISEPBFB_BRAKE', 2: 'VCU_CHASSISEPBFB_RELEASING', 3: 'VCU_CHASSISEPBFB_BRAKING'}
vcu_chassis_brake_padl_fb	std_msgs/float32	刹车踏板开度反馈 0-100
vcu_aeb_en_sta_fb	std_msgs/int8	AEB使能反馈 {0: 'VCU_AEBENSTAFB_OFF', 1: 'VCU_AEBENSTAFB_ON'}
vcu_aeb_trigger_sta_fb	std_msgs/int8	AEB触发反馈 {0: 'VCU_AEBTRIGGERSTAFB_OFF', 1: 'VCU_AEBTRIGGERSTAFB_AEB_TRIGGER'}

V2aSteerStaFb

下表为V2aSteerStaFb(vehicle to autonomous driving steering status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_steer_en_sta	std_msgs/int8	steering control enable status feedback {0: 'VCU_CHASSISSTEERENSTA_DISABLE', 1: 'VCU_CHASSISSTEERENSTA_ENABLE'}
vcu_chassis_steer_slopover	std_msgs/int8	steering slop-over status feedback {0: 'VCU_CHASSISSTEERSLOPOVER_NORMAL', 1: 'VCU_CHASSISSTEERSLOPOVER_OVER_SLOP'}
vcu_chassis_steer_work_mode	std_msgs/int8	steering work mode feedback {0: 'VCU_CHASSISSTEERWORKMODE_MACHINE', 1: 'VCU_CHASSISSTEERWORKMODE_WIRE', 2: 'VCU_CHASSISSTEERWORKMODE_POWER'}
vcu_chassis_steer_mode_fb	std_msgs/int8	steering mode feedback {0: 'VCU_CHASSISSTEERMODEFB_FRONT_ACKERMAN', 1: 'VCU_CHASSISSTEERMODEFB_SAME_FRONT_AND_BACK', 2: 'VCU_CHASSISSTEERMODEFB_FRONT_DIFFERENT_BACK', 3: 'VCU_CHASSISSTEERMODEFB_BACK_ACKRMAN', 4: 'VCU_CHASSISSTEERMODEFB_FRONT_BACK'}
vcu_chassis_steer_angle_fb	std_msgs/int32	steering angle of front steering wheel [deg] -500-500
vcu_chassis_steer_angle_rear_fb	std_msgs/int32	steering angle of rear steering wheel [deg] -500-500
vcu_chassis_steer_angle_speed_fb	std_msgs/float32	angular speed of steering wheel [deg/s] 0-500

V2aVehicleWorkStaFb

下表为V2aVehicleWorkStaFb(vehicle to autonomous driving vehicle work status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_driving_mode_fb	std_msgs/int8	VCU控制模式反馈 {0: 'VCU_DRIVINGMODEFB_STANDBY', 1: 'VCU_DRIVINGMODEFB_SELF_DRIVING', 2: 'VCU_DRIVINGMODEFB_REMOTE', 3: 'VCU_DRIVINGMODEFB_MAN'}
vcu_chassis_power_sta_fb	std_msgs/int8	车辆动力状态反馈 {0: 'VCU_CHASSISPOWERSTAFB_INIT', 1: 'VCU_CHASSISPOWERSTAFB_ON_ACC', 2: 'VCU_CHASSISPOWERSTAFB_READY', 3: 'VCU_CHASSISPOWERSTAFB_OFF'}
vcu_chassis_power_dc_sta	std_msgs/int8	DC工作状态反馈 {0: 'VCU_CHASSISPOWERDCSTA_OFF', 1: 'VCU_CHASSISPOWERDCSTA_ON', 2: 'VCU_CHASSISPOWERDCSTA_STANDBY'}
vcu_chassis_speed_limited_mode_fb	std_msgs/int8	限速模式反馈 {0: 'VCU_CHASSISSPEEDLIMITEDMODEFB_DEFAULT', 1: 'VCU_CHASSISSPEEDLIMITEDMODEFB_LIMIT'}
vcu_chassis_power_limite_sta	std_msgs/int8	动力限制模式反馈 {0: 'VCU_CHASSISPOWERLIMITESTA_DEFAULT', 1: 'VCU_CHASSISPOWERLIMITESTA_LIMIT'}
vcu_sys_eco_mode	std_msgs/int8	Eco模式反馈 {0: 'VCU_SYSECOMODE_DEFAULT', 1: 'VCU_SYSECOMODE_ECO', 2: 'VCU_SYSECOMODE_SPORT'}
vcu_chassis_speed_limited_val_fb	std_msgs/float32	限速反馈 [m/s] 0.0-50.0
vcu_chassis_low_power_volt_sta	std_msgs/float32	低电量反馈 [V] 0-25
vcu_chassis_e_stop_sta_fb	std_msgs/int8	急停状态反馈 {0: 'VCU_CHASSISESTOPSTAFB_NO', 1: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ESTOP', 2: 'VCU_CHASSISESTOPSTAFB_REMOTE_ESTOP', 3: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ERR_ESTOP'}
vcu_crash_front_sta	std_msgs/int8	前碰撞反馈 {0: 'VCU_CRASHFRONTSTA_OFF', 1: 'VCU_CRASHFRONTSTA_COLLIDE'}
vcu_crash_rear_sta	std_msgs/int8	后碰撞反馈 {0: 'VCU_CRASHREARSTA_OFF', 1: 'VCU_CRASHREARSTA_COLLIDE'}
vcu_crash_left_sta	std_msgs/int8	左碰撞反馈 {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_crash_right_sta	std_msgs/int8	右碰撞反馈 {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_life	std_msgs/int32	报文计数周期 0-255
vcu_check_sum	std_msgs/int32	check sum

V2aPowerStaFb

下表为V2aPowerStaFb(vehicle to autonomous driving power status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_bms_reserved_1	std_msgs/int32	保留位
vcu_chassis_power_charge_sta	std_msgs/int8	充电状态反馈 {0: 'VCU_CHASSISPOWERCHARGESTA_NO_CHARGE', 1: 'VCU_CHASSISPOWERCHARGESTA_CHARGE', 2: 'VCU_CHASSISPOWERCHARGESTA_CHARGE_FULL'}
vcu_chassis_power_charge_sock_sta	std_msgs/int8	充电接口状态反馈 {0: 'VCU_CHASSISPOWERCHARGESOCKSTA_NO_CONNECT', 1: 'VCU_CHASSISPOWERCHARGESOCKSTA_CONNECT'}
vcu_chassis_power_soc_fb	std_msgs/int32	电池SOC反馈 [%] 0-100
vcu_chassis_power_volt_fb	std_msgs/float32	电池电压反馈 [V] 0.0-1000.0
vcu_chassis_power_curr_fb	std_msgs/float32	电池电流反馈 [A] -1000.0-1000.0
vcu_chassis_bms_max_temp	std_msgs/int32	BMS最大温度反馈 [°C] -40-80
vcu_chassis_bms_reserved_2	std_msgs/int32	保留位

V2aVehicleStaFb

下表为V2aVehicleStaFb(vehicle to autonomous driving vehicle status feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_vehicle_pos_lamp_fb	std_msgs/int8	示廓灯反馈 {0: 'VCU_VEHICLEPOSLAMPFB_OFF', 1: 'VCU_VEHICLEPOSLAMPFB_ON'}
vcu_vehicle_head_lamp_fb	std_msgs/int8	头灯反馈 {0: 'VCU_VEHICLEHEADLAMPFB_OFF', 1: 'VCU_VEHICLEHEADLAMPFB_ON'}
vcu_vehicle_left_lamp_fb	std_msgs/int8	左转向灯反馈 {0: 'VCU_VEHICLELEFTLAMPFB_OFF', 1: 'VCU_VEHICLELEFTLAMPFB_ON'}
vcu_vehicle_right_lamp_fb	std_msgs/int8	右转向灯反馈 {0: 'VCU_VEHICLERIGHTLAMPFB_OFF', 1: 'VCU_VEHICLERIGHTLAMPFB_ON'}
vcu_vehicle_high_beam_fb	std_msgs/int8	前大灯反馈 {0: 'VCU_VEHICLEHIGHBEAMFB_OFF', 1: 'VCU_VEHICLEHIGHBEAMFB_ON'}
vcu_vehicle_fog_lamp_fb	std_msgs/int8	雾灯反馈 {0: 'VCU_VEHICLEFOGLAMPFB_OFF', 1: 'VCU_VEHICLEFOGLAMPFB_ON'}
vcu_vehicle_hazard_war_lamp_fb	std_msgs/int8	紧急状态灯反馈 {0: 'VCU_VEHICLEHAZARDWARLAMPFB_OFF', 1: 'VCU_VEHICLEHAZARDWARLAMPFB_ON'}
vcu_vehicle_body_lamp_fb	std_msgs/int8	车体灯反馈 {0: 'VCU_VEHICLEBODYLAMPFB_OFF', 1: 'VCU_VEHICLEBODYLAMPFB_ON'}
vcu_vehicle_read_lamp_fb	std_msgs/int8	阅读灯反馈 {0: 'VCU_VEHICLEREADLAMPFB_OFF', 1: 'VCU_VEHICLEREADLAMPFB_ON'}
acu_vehicle_window_fb	std_msgs/int8	车窗状态反馈 {0: 'ACU_VEHICLEWINDOWFB_INVALID', 1: 'ACU_VEHICLEWINDOWFB_OPENING', 2: 'ACU_VEHICLEWINDOWFB_CLOSING', 3: 'ACU_VEHICLEWINDOWFB_OPEN_INPLACE', 4: 'ACU_VEHICLEWINDOWFB_CLOSE_INPLACE', 5: 'ACU_VEHICLEWINDOWFB_OPEN_TIMEOUT', 6: 'ACU_VEHICLEWINDOWFB_CLOSE_TIMEOUT'}
vcu_vehicle_door_sta_fb	std_msgs/int8	车门状态反馈 {0: 'VCU_VEHICLEDOORSTAFB_INVALID', 1: 'VCU_VEHICLEDOORSTAFB_OPENING', 2: 'VCU_VEHICLEDOORSTAFB_CLOSING', 3: 'VCU_VEHICLEDOORSTAFB_OPEN_INPLACE', 4: 'VCU_VEHICLEDOORSTAFB_CLOSE_INPLACE', 5: 'VCU_VEHICLEDOORSTAFB_OPEN_TIMEOUT', 6: 'VCU_VEHICLEDOORSTAFB_CLOSE_TIMEOUT'}
vcu_vehicle_wipers_sta_fb	std_msgs/int8	雨刮器状态反馈 {0: 'VCU_VEHICLEWIPERSSTAFB_OFF', 1: 'VCU_VEHICLEWIPERSSTAFB_LOW', 2: 'VCU_VEHICLEWIPERSSTAFB_MID', 3: 'VCU_VEHICLEWIPERSSTAFB_HIGH'}
vcu_vehicle_safety_belt_1	std_msgs/int8	安全带1反馈 {0: 'VCU_VEHICLESAFETYBELT1_NO', 1: 'VCU_VEHICLESAFETYBELT1_SIT', 2: 'VCU_VEHICLESAFETYBELT1_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT1_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_2	std_msgs/int8	安全带2反馈 {0: 'VCU_VEHICLESAFETYBELT2_NO', 1: 'VCU_VEHICLESAFETYBELT2_SIT', 2: 'VCU_VEHICLESAFETYBELT2_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT2_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_3	std_msgs/int8	安全带3反馈 {0: 'VCU_VEHICLESAFETYBELT3_NO', 1: 'VCU_VEHICLESAFETYBELT3_SIT', 2: 'VCU_VEHICLESAFETYBELT3_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT3_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_4	std_msgs/int8	安全带4反馈 {0: 'VCU_VEHICLESAFETYBELT4_NO', 1: 'VCU_VEHICLESAFETYBELT4_SIT', 2: 'VCU_VEHICLESAFETYBELT4_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT4_UNKNOW_SENSOR_ERROR'}

V2aVehicleFltSta

下表为V2aVehicleFltSta(vehicle to autonomous driving vehicle fault feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_sys_motor_over_temp_sta	std_msgs/int8	电机高温状态反馈 {0: 'VCU_SYSMOTOROVERTEMPSTA_NORMAL', 1: 'VCU_SYSMOTOROVERTEMPSTA_OVER_TEMP'}
vcu_sys_bms_over_temp_sta	std_msgs/int8	BMS高温状态反馈 {0: 'VCU_SYSBMSOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBMSOVERTEMPSTA_OVER_TEMP'}
vcu_sys_brake_over_temp_sta	std_msgs/int8	制动系统高温状态反馈 {0: 'VCU_SYSBRAKEOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBRAKEOVERTEMPSTA_OVER_TEMP'}
vcu_sys_steer_over_temp_sta	std_msgs/int8	转向系统高温状态反馈 {0: 'VCU_SYSSTEEROVERTEMPSTA_NORMAL', 1: 'VCU_SYSSTEEROVERTEMPSTA_OVER_TEMP'}
vcu_sys_under_volt	std_msgs/int8	电池低电压反馈 {0: 'VCU_SYSUNDERVOLT_NORMAL', 1: 'VCU_SYSUNDERVOLT_UNDER_VOLT'}
vcu_sys_flt	std_msgs/int8	系统错误 {0: 'VCU_SYSFLT_NORMAL', 1: 'VCU_SYSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSFLT_FAULT_LEVEL_4'}
vcu_sys_brake_flt	std_msgs/int8	制动系统错误 {0: 'VCU_SYSBRAKEFLT_NORMAL', 1: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_4'}
vcu_sys_parking_flt	std_msgs/int8	驻车错误 {0: 'VCU_SYSPARKINGFLT_NORMAL', 1: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_1', 2: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_2', 3: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_3', 4: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_4'}
vcu_sys_steer_front_flt	std_msgs/int8	前转向系统错误 {0: 'VCU_SYSSTEERFRONTFLT_NORMAL', 1: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_4'}
vcu_sys_steer_back_flt	std_msgs/int8	后转向系统错误 {0: 'VCU_SYSSTEERBACKFLT_NORMAL', 1: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lf_flt	std_msgs/int8	左前电机错误 {0: 'VCU_SYSMOTORLFFLT_NORMAL', 1: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rf_flt	std_msgs/int8	右前电机错误 {0: 'VCU_SYSMOTORRFFLT_NORMAL', 1: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lr_flt	std_msgs/int8	左后电机错误 {0: 'VCU_SYSMOTORLRFLT_NORMAL', 1: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rr_flt	std_msgs/int8	右后电机错误 {0: 'VCU_SYSMOTORRRFLT_NORMAL', 1: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_4'}
vcu_sys_bms_flt	std_msgs/int8	BMS错误 {0: 'VCU_SYSBMSFLT_NORMAL', 1: 'VCU_SYSBMSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBMSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBMSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBMSFLT_FAULT_LEVEL_4'}
vcu_sys_dc_flt	std_msgs/int8	DC系统错误 {0: 'VCU_SYSDCFLT_NORMAL', 1: 'VCU_SYSDCFLT_FAULT_LEVEL_1', 2: 'VCU_SYSDCFLT_FAULT_LEVEL_2', 3: 'VCU_SYSDCFLT_FAULT_LEVEL_3', 4: 'VCU_SYSDCFLT_FAULT_LEVEL_4'}

V2aChassisWheelRpmFb

下表为V2aChassisWheelRpmFb(vehicle to autonomous driving vehicle wheel speed feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_rpm_lf	std_msgs/int32	左前电机转速 [rpm] -2000-2000
vcu_chassis_wheel_rpm_rf	std_msgs/int32	右前电机转速 [rpm] -2000-2000
vcu_chassis_wheel_rpm_lr	std_msgs/int32	左后电机转速 [rpm] -2000-2000
vcu_chassis_wheel_rpm_rr	std_msgs/int32	右后电机转速 [rpm] -2000-2000

V2aChassisWheelTirePressFb

下表为V2aChassisWheelTirePressFb(vehicle to autonomous driving tire pressure feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_tire_press_lf	std_msgs/float32	左前胎压 [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rf	std_msgs/float32	右前胎压 [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_lr	std_msgs/float32	左后胎压 [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rr	std_msgs/float32	右后胎压 [bar] 0.0-20.0

V2aChassisWheelAngleFb

下表为V2aChassisWheelAngleFb(vehicle to autonomous driving steering wheel angle feedback)的详细介绍

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_angle_lf	std_msgs/float32	左前转向角 [deg] -90|90
vcu_chassis_wheel_angle_rf	std_msgs/float32	右前转向角 [deg] -90|90
vcu_chassis_wheel_angle_lr	std_msgs/float32	左后转向角 [deg] -90|90
vcu_chassis_wheel_angle_rr	std_msgs/float32	右后转向角 [deg] -90|90

Control Converter Node

输入

输入(来自Autoware和底盘反馈)	Topic(Data Type)	Explanation
raw vehicle command	/control/command/actuation_cmd (tier4_vehicle_msgs/msg/ActuationCommandStamped)	原始控制指令，包括油门、刹车踏板和转向角
gear command	/control/command/gear_cmd (autoware_auto_vehicle_msgs/msg/GearCommand)	来自Autoware Shift Decider的档位命令
drive status feedback	/pix_hooke/v2a_drivestafb (V2aDriveStaFb)	当需要换挡时查看档位反馈，如果与目标档位不一致时将速度设为0

输出

输出 (发送至Control Command Node)	Topic(Data Type)	Explanation
自动驾驶发送到车辆的加速命令	/pix_hooke/a2v_drivectrl_130 (A2vDriveCtrl)
自动驾驶发送到车辆的制动控制	/pix_hooke/a2v_brakectrl_131 (A2vBrakeCtrl)
自动驾驶发送到车辆的转向控制	/pix_hooke/a2v_steerctrl_132 (A2vSteerCtrl)
自动驾驶发送到车辆的灯光等控制	/pix_hooke/a2v_vehiclectrl_133 (A2vVehicleCtrl)

Report Converter Node

输入

输入 (来自Report Parser Node )	Topic(Data Type)	Explanation
车辆发送到自动驾驶的加速状态反馈	/pix_hooke/v2a_drivestafb (pix_hooke_driver_msgs::msg::V2aDriveStaFb)
车辆发送到自动驾驶的制动状态反馈	/pix_hooke/v2a_brakestafb (pix_hooke_driver_msgs/msg/V2aBrakeStaFb)
车辆发送到自动驾驶的转向状态反馈	/pix_hooke/v2a_steerstafb (pix_hooke_driver_msgs/msg/V2aSteerStaFb)
车辆发送到自动驾驶的车辆工作状态反馈	/pix_hooke/v2a_vehicleworkstafb (pix_hooke_driver_msgs::msg::V2aVehicleWorkStaFb)
车辆发送到自动驾驶的车辆状态反馈	/pix_hooke/v2a_vehiclestafb (pix_hooke_driver_msgs::msg::V2aVehicleStaFb)

输出

输出 (发送至Autoware)	Topic(Data Type)	Explanation
控制模式状态	/vehicle/status/control_mode (autoware_auto_vehicle_msgs/msg/ControlModeReport)	反馈给Autoware的车辆控制模式状态
速度状态	/vehicle/status/velocity_status (autoware_auto_vehicle_msgs/msg/ControlModeReport)	反馈给Autoware的车辆横向与纵向速度 [m/s]
转向状态	/vehicle/status/steering_status (autoware_auto_vehicle_msgs/msg/SteeringReport)	反馈给Autoware的车辆转向角 [rad]
档位状态	/vehicle/status/gear_status (autoware_auto_vehicle_msgs/msg/GearReport)	反馈给Autoware的车辆档位状态 [-]
转向灯信号状态	/vehicle/status/turn_indicators_status (autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport)	反馈给Autoware的转向灯信号状态 [-]
紧急灯光状态	/vehicle/status/hazard_lights_status (autoware_auto_vehicle_msgs::msg::HazardLightsReport)	反馈给Autoware的紧急灯光状态 [-]
执行状态	/vehicle/status/actuation_status tier4_vehicle_msgs/msg/ActuationStatusStamped	为了车辆动力学标定反馈给Autoware的车辆加速踏板、制动踏板和转向状态 [0-100]

参考资料

• pix_driver
• tier4_autoware_msgs/tier4_vehicle_msgs
• autoware_auto_msgs
• ros2_socketcan