# /vehicle/status/control\_mode

## Specifications

| Item | Value |
| --- | --- |
| Last Updated | 2026-01-21 |
| Interface Type | topic |
| Interface Name | /vehicle/status/control\_mode |
| Data Type | [autoware\_vehicle\_msgs/msg/ControlModeReport](<https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/ControlModeReport.msg>) |
| Rate \[Hz\] | 10 or N/A |
| QoS Reliability | reliable |
| QoS Durability | volatile |
| QoS Depth | 1 |

## Description

Get the current control mode status of the vehicle. The status are listed in the table below.

The [`autoware_component_interface_specs`](<https://github.com/autowarefoundation/autoware_core/blob/1.10.0/common/autoware_component_interface_specs/include/autoware/component_interface_specs/vehicle.hpp>) package defines this topic with `volatile` durability. The vehicle interface publishes this topic. Known publishers, for example [`pacmod_interface`](<https://github.com/tier4/pacmod_interface/blob/main/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp>) and [`autoware_simple_planning_simulator`](<https://github.com/autowarefoundation/autoware_simple_planning_simulator/blob/1.1.0/autoware_simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp>), publish the status continuously with `volatile` durability, not only when the status changes. The design intent is different: use `transient_local` durability and publish only when the status changes. Make sure that the publishers and the subscribers in your system use compatible QoS settings.

Please note that ignoring a command does not mean stopping the vehicle. The vehicle may drive in any behavior, by manual control interfaces such as the driver's seat.

- velocity group

  - /control/command/control\_cmd (longitudinal field)
  - /control/command/gear\_cmd
- steering group

  - /control/command/control\_cmd (lateral field)
  - /control/command/turn\_indicators\_cmd
- others group

  - /control/command/hazard\_lights\_cmd
  - /vehicle/doors/command

| control mode | velocity group | steering group | others group |
| --- | --- | --- | --- |
| AUTONOMOUS | accept | accept | accept |
| AUTONOMOUS\_STEER\_ONLY | ignore | accept | accept |
| AUTONOMOUS\_VELOCITY\_ONLY | accept | ignore | accept |
| MANUAL | ignore | ignore | ignore |

The design does not define which commands the vehicle accepts in the `DISENGAGED`, `NO_COMMAND`, and `NOT_READY` modes. In Autoware 2.0.0, no consumer of this topic treats these three modes as Autoware control. For example, the [`autoware_operation_mode_transition_manager`](<https://github.com/autowarefoundation/autoware_universe/blob/0.53.1/control/autoware_operation_mode_transition_manager/src/node.cpp>) node treats only `AUTONOMOUS`, `AUTONOMOUS_STEER_ONLY`, and `AUTONOMOUS_VELOCITY_ONLY` as Autoware control. It uses `NO_COMMAND` as the mode until it receives the first message.

## Message

The `stamp` field is the status received time or hardware time such as VCU. In the case of periodic publication, use the latest time, not the last status change. For the `mode` field, use the valid values listed above.

## Errors

Unknown status: If the vehicle interface cannot get the status due to connection loss, etc., the status is stopped and a diagnostic error is reported.

Invalid status: If the vehicle interface receives an undefined status, stop publishing status and report as diagnostics.

## Support

Support for `MANUAL` and `AUTONOMOUS` modes is required.

## Limitations

Latency: There is an inevitable latency between sending a mode change request and this interface updating to the new state. Autoware must handle this transition period.

Override detection: Some vehicle platforms do not explicitly report override activation. In such cases, the vehicle interface calculates this state by comparing command and feedback, which may introduce detection delay.

## Use cases

- Control the vehicle for autonomous driving.
- Display current control mode status to the operator.

## Requirement

- Support getting the current control mode status of the vehicle.
- Report the error as diagnostics if the status cannot be received or an unknown status is received.

## Design

None.

## History

| Date | Description |
| --- | --- |
| 2026-01-21 | First release in the new format. |