Improve simulated manual override with FollowTrajectoryAction

[HansRobo]

Description

Abstract

Improve simulated manual override with FollowTrajectoryAction

Background

In previous version of scenario_simulator_v2, the control mode during the override is still AUTONOMOUS.
This could not be accurately simulated for manual overrides , so this pull request was created.

Details

Note

This section is copied from ManualOverrideWithFollowTrajectoryAction.md in this pull-request.

scenario_simulator_v2 simulates the manual override of Autoware, with FollowTrajectoryAction.
During the executing FollowTrajectoryAction, the control of the ego entity is taken over from Autoware to the FollowTrajectoryAction.

3 types of override for Autoware

There are 3 types of override for Autoware.

• Local: Manually control the vehicle from nearby with some device such as a joystick. This is one of operation modes.
• Remote: Manually control the vehicle from a web application on the cloud. This is one of operation modes.
• Direct: Manually control the vehicle from handle, brake and/or accel directly. Please note that this is not a operation mode but a control mode of vehicle interface.

override simulation in scenario_simulator_v2

vehicle interface simulation is a part of the ego vehicle simulation feature in scenario_simulator_v2.
scenario_simulator_v2 simulates a Direct override triggered by safety operators when a scenario commands overriding the ego vehicle by FollowTrajectoryAction.

3 steps scenario_simulator_v2 takes to simulate the overrides

1. triggering the override

In real vehicle, the override detected in vehicle internally and communicated to vehicle interface node such as pacmod_interface node.

In scenario_simulator_v2, openscenario_interpreter send an override flag via zmq interface between traffic_simulator and simple_sensor_simulator when FollowTrajectoryAction is started.

simple_sensor_simulator receives it and set the control mode to MANUAL like vehicle interface do when hardware override triggers detected.

2. during the override

traffic_simulator send ego status calculated to follow described in the scenario and simple_sensor_simulator overrides Autoware control with overwriting ego status by the received ego status.

3. finishing the override

When FollowTrajectoryAction is finished, traffic_simulator call service to enable autoware control and stop sending the override flag to simple_sensor_simulator via zmq communication.

This mimics the steps safety operators do in real vehicle via some human interfaces, in API level.

References

• Vehicle Interface | Autoware Documentation
• [INTERNAL] Regression Test (Passed)

Destructive Changes

None

Known Limitations

scenario_simulator_v2 does not support a remote override for now.

[github-actions]

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