Detailed Description

The command data.

Definition at line 666 of file VehicleIOLegacyStructures.h.

Collaboration diagram for dwVehicleIOCommand:

Data Fields
bool	enable
	True if we are driving by wire. More...

float32_t	steeringWheelAngle
	Desired steering wheel angle (rad) More...

float32_t	maxSteeringWheelSpeed
	Maximum steering wheel speed of the turning command rad/s. More...

float32_t	frontSteeringAngle
	Desired front wheel steering angle (rad) More...

float32_t	maxFrontSteeringSpeed
	Maximum front wheel speed of the turning command (rad/s) More...

float32_t	steeringWheelTorque
	Additional steering wheel torque request (Nm). More...

float32_t	rearAxleCurvatureValue
	Path curvature request based on travelled distance (1/m) More...

float32_t	rearSteeringAngle
	Desired rear wheel steering angle (rad) More...

float32_t	throttleValue
	range 0.0 to 1.0 More...

float32_t	brakeValue
	range 0.0 to 1.0 More...

float32_t	decelerationValue
	decleration m/s^2 - represented as a positive number More...

float32_t	lonAccelerationValue
	longitudinal acceleration (m/s^2) More...

float32_t	latAccelerationValue
	lateral acceleration (m/s^2) More...

dwVehicleIOGear	gear
	Desired gear: 0=UNKNOWN, 1=PARK, 2=REVERSE, 3=NEUTRAL, 4=DRIVE. More...

dwVehicleIOTurnSignal	turnSig
	Turn signal value. More...

bool	clearFaults
	Setting > 0 clears any canbus faults/errors. More...

bool	throttleValid
	True if setting throttle. More...

bool	brakeValid
	True if setting break. More...

bool	steeringWheelValid
	True if setting steering wheel steering. More...

bool	frontSteeringValid
	True if setting front wheel steering. More...

bool	steeringWheelTorqueValid
	True if setting steering torque. More...

bool	rearAxleCurvatureValid
	True if setting rear axle curvature. More...

bool	rearSteeringValid
	True if setting rear wheel steering. More...

bool	gearValid
	True if setting gear. More...

bool	turnSigValid
	True if setting turn signal. More...

bool	decelerationValid
	True if setting deceleration. More...

bool	lonAccelerationValid
	True if setting longitudinal acceleration. More...

bool	latAccelerationValid
	True if setting lateral acceleration. More...

bool	remainingDistanceValid
	True if setting remaining distance. More...

bool	maxSpeedValid
	True if setting speed request. More...

bool	latModeValid
	True if setting lateral function. More...

bool	lonModeValid
	True if setting longitudinal function. More...

float32_t	additionalRearAxleDeltaCurvatureValue
	Delta Curvature request (1/m) for additional interface executed through differential braking. More...

bool	additionalRearAxleDeltaCurvatureValid
	True if setting additional delta curvature. More...

bool	additionalDeltaCurvatureCtrlPrefillRequest
	Request to activate prefill for differential braking. More...

bool	aebRequest
	Request to activate AEB. More...

bool	dbsRequest
	Dynamic brake support request. More...

bool	holdRequest
	AEB Hold request (only valid if aebRequest or dbsRequest is true) More...

bool	prefillRequest
	Request to activate prefill. More...

dwVehicleIOAEBState	aebState
	AEB system status/state. More...

bool	fcwRequest
	Request to activate FCW. More...

dwVehicleIOFCWState	fcwState
	FCW system status/state. More...

dwVehicleIOCDWRequestType	cdwRequest
	Request to activate CDW. More...

bool	lonEESFRequest
	True if EESF is active in the longitudinal direction. More...

bool	latEESFRequest
	True if EESF is active in the lateral direction. More...

bool	eesfHoldRequest
	EESF hold request (only valid if lonEESFRequest is true) More...

uint64_t	heartbeatCounter
	VIO command heartbeat. More...

float32_t	remainingDistance
	Desired longitudinal offset from current position (m) More...

float32_t	maxSpeed
	Maximum allowed speed to support remaining distance request (m/s) More...

dwVehicleIOLatMode	latMode

dwVehicleIOLonMode	lonMode

dwVehicleIOEgoFeedback	egomotionResult

bool	latCtrlReadyForCollaborativeSteering
	Behavior Planner ready for control. More...

float32_t	latCtrlCrossTrackError
	Used for driver intervention (Lateral path tracking control error) More...

float32_t	latCtrlCurvReqPred
	The target curvature without feedback compensation. More...

dwTime_t	timestamp_us
	Timestamp when dwVehicleIOCommand was assembled. More...

dwVehicleIOLatCtrlInterventionDirectionLKA	latCtrlInterventionDirectionLKA
	direction of the steering intervention, opposite to side of departure. More...

dwVehicleIOLatCtrlInterventionDirectionELK	latCtrlInterventionDirectionELK
	direction of the steering intervention, opposite to side of departure. More...

uint8_t	latCtrlLaneChangePushingLaterally
	This bit is set if lateral movement has started. More...

dwVehicleIOTurnSignalType	turnSignalType

bool	turnSignalTypeValid

dwVehicleIOLongCtrlReferenceInputRequest	longCtrlReferenceInputRequest

dwVehicleIOLongCtrlInteractionModeRequest	longCtrlInteractionModeRequest

dwVehicleIOLongCtrlAccelPerfRequest	longCtrlAccelPerfRequest

bool	longCtrlSecureRequest

Field Documentation

◆ additionalDeltaCurvatureCtrlPrefillRequest

bool dwVehicleIOCommand::additionalDeltaCurvatureCtrlPrefillRequest

Request to activate prefill for differential braking.

Definition at line 722 of file VehicleIOLegacyStructures.h.

◆ additionalRearAxleDeltaCurvatureValid

bool dwVehicleIOCommand::additionalRearAxleDeltaCurvatureValid

True if setting additional delta curvature.

Definition at line 721 of file VehicleIOLegacyStructures.h.

◆ additionalRearAxleDeltaCurvatureValue

float32_t dwVehicleIOCommand::additionalRearAxleDeltaCurvatureValue

Delta Curvature request (1/m) for additional interface executed through differential braking.

Definition at line 720 of file VehicleIOLegacyStructures.h.

◆ aebRequest

bool dwVehicleIOCommand::aebRequest

Request to activate AEB.

Definition at line 725 of file VehicleIOLegacyStructures.h.

◆ aebState

dwVehicleIOAEBState dwVehicleIOCommand::aebState

AEB system status/state.

Definition at line 729 of file VehicleIOLegacyStructures.h.

◆ brakeValid

bool dwVehicleIOCommand::brakeValid

True if setting break.

Definition at line 703 of file VehicleIOLegacyStructures.h.

◆ brakeValue

float32_t dwVehicleIOCommand::brakeValue

range 0.0 to 1.0

Definition at line 683 of file VehicleIOLegacyStructures.h.

◆ cdwRequest

dwVehicleIOCDWRequestType dwVehicleIOCommand::cdwRequest

Request to activate CDW.

Definition at line 736 of file VehicleIOLegacyStructures.h.

◆ clearFaults

bool dwVehicleIOCommand::clearFaults

Setting > 0 clears any canbus faults/errors.

Definition at line 699 of file VehicleIOLegacyStructures.h.

◆ dbsRequest

bool dwVehicleIOCommand::dbsRequest

Dynamic brake support request.

Definition at line 726 of file VehicleIOLegacyStructures.h.

◆ decelerationValid

bool dwVehicleIOCommand::decelerationValid

True if setting deceleration.

Definition at line 711 of file VehicleIOLegacyStructures.h.

◆ decelerationValue

float32_t dwVehicleIOCommand::decelerationValue

decleration m/s^2 - represented as a positive number

Definition at line 688 of file VehicleIOLegacyStructures.h.

◆ eesfHoldRequest

bool dwVehicleIOCommand::eesfHoldRequest

EESF hold request (only valid if lonEESFRequest is true)

Definition at line 741 of file VehicleIOLegacyStructures.h.

◆ egomotionResult

dwVehicleIOEgoFeedback dwVehicleIOCommand::egomotionResult

Definition at line 751 of file VehicleIOLegacyStructures.h.

◆ enable

bool dwVehicleIOCommand::enable

True if we are driving by wire.

Has to always be set.

Definition at line 668 of file VehicleIOLegacyStructures.h.

◆ fcwRequest

bool dwVehicleIOCommand::fcwRequest

Request to activate FCW.

Definition at line 732 of file VehicleIOLegacyStructures.h.

◆ fcwState

dwVehicleIOFCWState dwVehicleIOCommand::fcwState

FCW system status/state.

Definition at line 733 of file VehicleIOLegacyStructures.h.

◆ frontSteeringAngle

float32_t dwVehicleIOCommand::frontSteeringAngle

Desired front wheel steering angle (rad)

Definition at line 673 of file VehicleIOLegacyStructures.h.

◆ frontSteeringValid

bool dwVehicleIOCommand::frontSteeringValid

True if setting front wheel steering.

Definition at line 705 of file VehicleIOLegacyStructures.h.

◆ gear

dwVehicleIOGear dwVehicleIOCommand::gear

Desired gear: 0=UNKNOWN, 1=PARK, 2=REVERSE, 3=NEUTRAL, 4=DRIVE.

Definition at line 695 of file VehicleIOLegacyStructures.h.

◆ gearValid

bool dwVehicleIOCommand::gearValid

True if setting gear.

Definition at line 709 of file VehicleIOLegacyStructures.h.

◆ heartbeatCounter

uint64_t dwVehicleIOCommand::heartbeatCounter

VIO command heartbeat.

Definition at line 742 of file VehicleIOLegacyStructures.h.

◆ holdRequest

bool dwVehicleIOCommand::holdRequest

AEB Hold request (only valid if aebRequest or dbsRequest is true)

Definition at line 727 of file VehicleIOLegacyStructures.h.

◆ latAccelerationValid

bool dwVehicleIOCommand::latAccelerationValid

True if setting lateral acceleration.

Definition at line 713 of file VehicleIOLegacyStructures.h.

◆ latAccelerationValue

float32_t dwVehicleIOCommand::latAccelerationValue

lateral acceleration (m/s^2)

Definition at line 692 of file VehicleIOLegacyStructures.h.

◆ latCtrlCrossTrackError

float32_t dwVehicleIOCommand::latCtrlCrossTrackError

Used for driver intervention (Lateral path tracking control error)

Definition at line 755 of file VehicleIOLegacyStructures.h.

◆ latCtrlCurvReqPred

float32_t dwVehicleIOCommand::latCtrlCurvReqPred

The target curvature without feedback compensation.

Can be used to represent the target curvature also at some brief period in the future.

Definition at line 756 of file VehicleIOLegacyStructures.h.

◆ latCtrlInterventionDirectionELK

dwVehicleIOLatCtrlInterventionDirectionELK dwVehicleIOCommand::latCtrlInterventionDirectionELK

direction of the steering intervention, opposite to side of departure.

Definition at line 759 of file VehicleIOLegacyStructures.h.

◆ latCtrlInterventionDirectionLKA

dwVehicleIOLatCtrlInterventionDirectionLKA dwVehicleIOCommand::latCtrlInterventionDirectionLKA

direction of the steering intervention, opposite to side of departure.

Definition at line 758 of file VehicleIOLegacyStructures.h.

◆ latCtrlLaneChangePushingLaterally

uint8_t dwVehicleIOCommand::latCtrlLaneChangePushingLaterally

This bit is set if lateral movement has started.

Definition at line 760 of file VehicleIOLegacyStructures.h.

◆ latCtrlReadyForCollaborativeSteering

bool dwVehicleIOCommand::latCtrlReadyForCollaborativeSteering

Behavior Planner ready for control.

Definition at line 754 of file VehicleIOLegacyStructures.h.

◆ latEESFRequest

bool dwVehicleIOCommand::latEESFRequest

True if EESF is active in the lateral direction.

Definition at line 740 of file VehicleIOLegacyStructures.h.

◆ latMode

dwVehicleIOLatMode dwVehicleIOCommand::latMode

Definition at line 747 of file VehicleIOLegacyStructures.h.

◆ latModeValid

bool dwVehicleIOCommand::latModeValid

True if setting lateral function.

Definition at line 716 of file VehicleIOLegacyStructures.h.

◆ lonAccelerationValid

bool dwVehicleIOCommand::lonAccelerationValid

True if setting longitudinal acceleration.

Definition at line 712 of file VehicleIOLegacyStructures.h.

◆ lonAccelerationValue

float32_t dwVehicleIOCommand::lonAccelerationValue

longitudinal acceleration (m/s^2)

Definition at line 691 of file VehicleIOLegacyStructures.h.

◆ lonEESFRequest

bool dwVehicleIOCommand::lonEESFRequest

True if EESF is active in the longitudinal direction.

Definition at line 739 of file VehicleIOLegacyStructures.h.

◆ longCtrlAccelPerfRequest

dwVehicleIOLongCtrlAccelPerfRequest dwVehicleIOCommand::longCtrlAccelPerfRequest

Definition at line 765 of file VehicleIOLegacyStructures.h.

◆ longCtrlInteractionModeRequest

dwVehicleIOLongCtrlInteractionModeRequest dwVehicleIOCommand::longCtrlInteractionModeRequest

Definition at line 764 of file VehicleIOLegacyStructures.h.

◆ longCtrlReferenceInputRequest

dwVehicleIOLongCtrlReferenceInputRequest dwVehicleIOCommand::longCtrlReferenceInputRequest

Definition at line 763 of file VehicleIOLegacyStructures.h.

◆ longCtrlSecureRequest

bool dwVehicleIOCommand::longCtrlSecureRequest

Definition at line 766 of file VehicleIOLegacyStructures.h.

◆ lonMode

dwVehicleIOLonMode dwVehicleIOCommand::lonMode

Definition at line 748 of file VehicleIOLegacyStructures.h.

◆ lonModeValid

bool dwVehicleIOCommand::lonModeValid

True if setting longitudinal function.

Definition at line 717 of file VehicleIOLegacyStructures.h.

◆ maxFrontSteeringSpeed

float32_t dwVehicleIOCommand::maxFrontSteeringSpeed

Maximum front wheel speed of the turning command (rad/s)

Definition at line 674 of file VehicleIOLegacyStructures.h.

◆ maxSpeed

float32_t dwVehicleIOCommand::maxSpeed

Maximum allowed speed to support remaining distance request (m/s)

Definition at line 746 of file VehicleIOLegacyStructures.h.

◆ maxSpeedValid

bool dwVehicleIOCommand::maxSpeedValid

True if setting speed request.

Definition at line 715 of file VehicleIOLegacyStructures.h.

◆ maxSteeringWheelSpeed

float32_t dwVehicleIOCommand::maxSteeringWheelSpeed

Maximum steering wheel speed of the turning command rad/s.

Definition at line 672 of file VehicleIOLegacyStructures.h.

◆ prefillRequest

bool dwVehicleIOCommand::prefillRequest

Request to activate prefill.

Definition at line 728 of file VehicleIOLegacyStructures.h.

◆ rearAxleCurvatureValid

bool dwVehicleIOCommand::rearAxleCurvatureValid

True if setting rear axle curvature.

Definition at line 707 of file VehicleIOLegacyStructures.h.

◆ rearAxleCurvatureValue

float32_t dwVehicleIOCommand::rearAxleCurvatureValue

Path curvature request based on travelled distance (1/m)

Definition at line 676 of file VehicleIOLegacyStructures.h.

◆ rearSteeringAngle

float32_t dwVehicleIOCommand::rearSteeringAngle

Desired rear wheel steering angle (rad)

Definition at line 677 of file VehicleIOLegacyStructures.h.

◆ rearSteeringValid

bool dwVehicleIOCommand::rearSteeringValid

True if setting rear wheel steering.

Definition at line 708 of file VehicleIOLegacyStructures.h.

◆ remainingDistance

float32_t dwVehicleIOCommand::remainingDistance

Desired longitudinal offset from current position (m)

Definition at line 745 of file VehicleIOLegacyStructures.h.

◆ remainingDistanceValid

bool dwVehicleIOCommand::remainingDistanceValid

True if setting remaining distance.

Definition at line 714 of file VehicleIOLegacyStructures.h.

◆ steeringWheelAngle

float32_t dwVehicleIOCommand::steeringWheelAngle

Desired steering wheel angle (rad)

Definition at line 671 of file VehicleIOLegacyStructures.h.

◆ steeringWheelTorque

float32_t dwVehicleIOCommand::steeringWheelTorque

Additional steering wheel torque request (Nm).

Does not affect vehicle steering, rather to be used as feedback for the driver

Definition at line 675 of file VehicleIOLegacyStructures.h.

◆ steeringWheelTorqueValid

bool dwVehicleIOCommand::steeringWheelTorqueValid

True if setting steering torque.

Definition at line 706 of file VehicleIOLegacyStructures.h.

◆ steeringWheelValid

bool dwVehicleIOCommand::steeringWheelValid

True if setting steering wheel steering.

Definition at line 704 of file VehicleIOLegacyStructures.h.

◆ throttleValid

bool dwVehicleIOCommand::throttleValid

True if setting throttle.

Definition at line 702 of file VehicleIOLegacyStructures.h.

◆ throttleValue

float32_t dwVehicleIOCommand::throttleValue