Skip to content

Get on and get off#

When the vehicle stops at a bus stop or a pickup point, the application opens the doors for the passengers and closes them before the vehicle starts again. This use case needs a vehicle that has a software interface for the doors.

Sequence#

In the stop mode, the application reads the door layout, opens the doors for getting on or off, waits for the passengers, and closes the doors.ApplicationAD APIVehiclePassengers/api/vehicle/doors/layoutroles of each door/api/vehicle/doors/command: OPENopen the selected doorsresponse statusdoor status/api/vehicle/doors/status: OPENEDget on or get off/api/vehicle/doors/command: CLOSEclose all doorsresponse statusdoor status/api/vehicle/doors/status: CLOSED
Open the doors for the passengers, then close them.
  1. Find the doors. Call /api/vehicle/doors/layout. Use the roles field to find the doors for getting on (GET_ON) and getting off (GET_OFF).
  2. Open the doors. Call /api/vehicle/doors/command with the OPEN command for these doors.
  3. Wait for the passengers. Watch /api/vehicle/doors/status and your own passenger checks.
  4. Close the doors. Call /api/vehicle/doors/command with the CLOSE command. Wait until the status of all doors is CLOSED.

Restrictions#

The default implementation (vehicle_door node of autoware_default_adapi_universe) rejects a door command in these cases:

  • The command opens a door and the operation mode is not stop.
  • Autoware control is disabled. Set the check_autoware_control parameter to false to allow door commands during direct control.