Vehicle to infrastructure (V2I) interface

Overview

This module converts V2I communication between the Autoware of ROS2 interface and UDP which is outside of ROS2 interface.

This converter acts with a single external device on a vehicle.

It is necessary to prepare a user-defined broadcasting device, which connects to number of infrastructure devices.

Input and Output

• input
  • from autoware.universe
    • /awapi/tmp/infrastructure_commands [tier4_v2x_msgs/msg/InfrastructureCommandArray]:
      Control command to V2I infrastructure. It has an array structure to control multiple infrastructures at the same time.
  • from cargo_loading_service
    • /cargo_loding/infurastructre_commands [tier4_v2x_msgs/msg/InfrastructureCommandArray]:
      Control command to V2I infrastructure. It has an array structure to control multiple infrastructures at the same time.
  • from autoware_state_machine
    • /autoware_state_machine/state [autoware_state_machine_msgs/msg/StateMachine]:
      State of the system.
  • from user-defined broadcasting device
    • v2i status (UDP) :
      State from V2I infrastructure. It has an array structure to control the vehicle based on the state of multiple infrastructures.
• output
  • to autoware.universe
    • /system/v2x/virtual_traffic_light_status [tier4_v2x_msgs/msg/VirtualTrafficLightStateArray]:
      ROS2 interface from v2i_status (UDP).
  • to cargo_loading_service
    • /v2i/infrastructer_states [v2i_interface_msgs/msg/InfrastructureStateArray.msg]:
      ROS2 interface from v2i_status (UDP).
  • to user-defined broadcasting device
    • v2i command (UDP) :
      UDP protocol from /awapi/tmp/infrastructure_commands.

Node Graph

v2i interface ｍodule external specifications

v2i interface ｍodule internal specifications

UDP protocol

Broadcasting device must meet the following specifications.

V2I command: infrastructure_commands

{
  "seq_num" : uint32,
  "time": {
    "sec": uint64,
    "nanosec": unit32,
  },
  "request_array": [
    {
      "id": uint8,
      "request": uint8
    },
    ...
  ]
}

Item description

High level description

Name	Description
seq_num	Increment from 0 for each output.
time	UNIX time at the time of output.
request_array	Control commands for multiple V2I controllers.

Details of items in request_array

Name	Description
id	ID of the V2I infrastructure.
request	Control command for the V2I infrastructure such as "open / close" and "turn on / off". The lower 4 bits and the upper 4 bits correspond to the states of 4 outputs and 4 inputs, respectively.

V2I status: infrastructer_states

{
  "seq_num" : uint32,
  "time": {
    "sec": uint64,
    "nanosec": unit32,
  },
  "id": uint8,
  "status": uint8,
  "detail": uint32.
  "reply_array": [
    {
      "id": uint8,
      "time": {
        "sec": uint64,
        "nanosec": unit32,
      },
      "status" : uint8,
      "packet_time" : {
        "sec" : uint64,
        "msec" : uint16,
      },
      "gpio" : uint8,
      "detail" : uint32,
      "vehicle": {
        "id" : uint8,
        "request" : uint8,
        "delay" : uint16,
        "rssi" : int8,
      },
      "rssi" : int8
    },
    ...
  ]
}

Item description

High level description

This is mainly about the status of broadcasting device.

Name	Description
seq_num	Increment from 0 for each output.
time	UNIX time at the time of output.
id	ID of the broadcasting device.
status	Error status; 0: Normal, 1: Near the end of life, 2: Error
detail	Error code for details.
reply_array	The status of all connected V2I controller.

Details of items in reply_array

This is about the status of each V2I controller.

Name	Description
id	ID of the V2I infrastructure.
time	UNIX time at the time of output.
status	Error status; 0: Normal, 1: Near the end of life, 2: Error
packet_time	Unix time when the status of the V2I infrastructure was detected.
gpio	The operating status of the V2I infrastructure such as "open / close" and "turn on / off". The lower 4 bits and the upper 4 bits correspond to the states of 4 outputs and 4 inputs, respectively.
detail	Error code for details.
veihcle	Sender status of the most recently sent V2I infrastructure control command.
rssi	Received signal strength indicator from V2I controller to vehicle.

Details of items in vehicle

This is the sender status of the most recently sent V2I infrastructure control command.

Name	Description
id	ID of the broadcasting device.
request	The copy of the control command.
delay	Response time to control (msec).
rssi	Received signal strength indicator from vehicle to V2I controller.

Vector map configuration

Add every optional tags below to virtual traffic light object.

Name	Range	Description
type	eva_beacon_system	Fixed value（To identify from other VirtualTrafficLight objects.）
eva_beacon_system:id	1-254	ID which set to the equipment side beacon device.
eva_beacon_system:ref:section	REQUESTING	Selects a section that enables V2I control. - REQUESTING: start_line to ref_line - (Empty): start_line to end_line
eva_beacon_system:ref:permit_state	DRIVING	Selects vehicle states which enables V2I control. - DRIVING: During driving - (Empty): Do not care the vehicle states * This can't specify the behivior before a route supplied.
eva_beacon_system:ref:request_bit	0x0-0x0f	Value to be output by GPIO when the V2I control enabled.
eva_beacon_system:ref:expect_bit	0x0-0x0f	Expected value which use with stop control specified by response_type.
eva_beacon_system:ref:response_type	ALWAYS AND MATCH	Specifies how the beacon system allow the vehicle to pass. - ALWAYS: Always allows without calculation of value_bit and expect_bit. - AND: Allows when expect_bit & value_bit ≠0 - MATCH: Allows when expect_bit = value_bit
eva_beacon_system:ref:mode	FIXED_VALUE TURN_DIRECTION	- FIXED_VALUE Use request_bit and expect_bit as specified. - TURN_DIRECTION Calculate request_bit and expect_bit based on turn_direction value of VirtualTrafficLight lanelet object. ※bit0: Straight, bit1: Turn right, bit2: Turn left

Add every optional tags below to lane object.

Name	Range	Description
inparking_loading	0-254	Set infrastructure ID
inparking_engage	1	this tag is auto engage

Launch Test mode

This module has a test mode. This link on how to enable test mode.