Autonomous Driving: Sound Manager

Overview

Every autonomous driving vehicle notifies its action to surrounding people.

This node selects both a recorded voice and BGM depending on a state of whole system which combined the Autoware and a vehicle.
This node plays sound in the following order of priority.

1. Alert people around the ego vehicle by voice alarm once before the ego vehicle departs.
   The ego vehicle will not depart until the alert is complete.
2. Keep alerting obstacles around the ego vehicle by voice alarm.
3. Keep alerting obstacles in the ego vehicle's path by voice alarm.
4. Notify the cargo receiver by voice alarm once that the ego vehicle has arrived.
5. Keep informed by voice alarm that the ego vehicle is avoiding obstacles.
6. Keep informed by voice alarm that the ego vehicle is turning left or right.
7. Keep requesting an departure permit by voice alarm for on-demand delivery.
8. Keep alerting people around the ego vehicle by bgm while driving.
9. Notify operator by voice alarm once that the system has booted successfully.
10. Keep informed by voice alarm that the system is being in shut down sequence.

Anti-idling function for audio device

This node provides a function to prevent idling by continuously playing extremely low volume even if there is no audio playback request.

If the audio device does not play audio for a while, the audio device will automatically go idle.
This idle state is cleared when the next audio playback starts, but the problem is that the audio cuts out immediately after it starts.

By continuing to play background music at a very low volume when the vehicle is not moving (no background music required), other sounds can be played without the initial interruption due to idling.

Input and Output

• input
  • from autoware.universe
    • /awapi/vehicle/get/status [tier4_api_msgs/msg/awapi_vehicle_status]:
      Vehicle status. Refers to the status of the turn signal.
  • from autoware_state_machine
    • /autoware_state_machine/state [autoware_state_machine_msgs/msg/StateMachine]:
      State of the system.
  • from sound_voice_alarm/audio_driver
    • /sound_voice_alarm/audio_res [audio_driver_msgs/msg/SoundDriverRes]:
      Acknowledgement that voice alarm playback is complete.
• output
  • to autoware_state_machine
    • /autoware_state_machine/state_sound_done [autoware_state_machine_msgs/msg/StateSoundDone]:
      Acknowledgement that sound playback is complete.
  • to sound_voice_alarm/audio_driver
    • /sound_voice_alarm/audio_cmd [audio_driver_msgs/msg/SoundDriverCtrl]:
      Voice alarm playback request.
  • to sound_bgm/audio_driver
    • /sound_bgm/audio_cmd [audio_driver_msgs/msg/SoundDriverCtrl]:
      BGM playback request.

Node Graph

Launch arguments

Name	Description
lang	Switch a set of sound by directory name. See ad_sound.default for details.

Parameter description

Name	Description
sound_filename_avoid	File name of a voice alert for obstacle avoidance.
sound_filename_start	File name of a voice alert for engaging the ego vehicle.
sound_filename_left	File name of a voice alert for turning left.
sound_filename_right	File name of a voice alert for turning right.
sound_filename_bgm	BGM file name as the driving warning sound.
sound_filename_obstacle	Warning sound file name for obstacles in the ego vehicle's path.
sound_filename_wakeup	Sound file name for system startup notification.
sound_filename_leave	Warning sound file name for obstacles around the ego vehicle.
sound_filename_arrival	Sound file name to notify the arrival of the ego vehicle.
sound_filename_call	Sound file name asking for permission to engage the ego vehicle for on-demand delivery.

The specific values for these parameters are defined in the ad_sound package.

If you want to use different sound, fork the ad_sound.default repository, create a new repository.