Vehicle Voice Alert System

Tested environments

OS	python	ros
Ubuntu 20.04	python3.8	ros2 galactic
Ubuntu 22.04	python3.10	ros2 humble

setup

Install Autoware

refer to here

https://autowarefoundation.github.io/autoware-documentation/main/installation/

Required library

• simpleaudio

sudo pip3 install simpleaudio

build

cd vehicle_voice_alert_system
colcon build

start

source {AUTOWARE_PATH}/install/setup.bash
bash start.sh

rebuild

cd vehicle_voice_alert_system
colcon build

Sound definition

• The sound playing currently only support wav format

Name	Announce Timing	Priority (Descending order)	Trigger Source	Note
departure	When the vehicle engage	4	Service: /api/vehicle_voice/set/announce
emergency	When emergency is trigger	4	Topic: /awapi/autoware/get/status Data: emergency
in_emergency	During emergency mode	3	Topic: /awapi/autoware/get/status Data: emergency Flag: self._in_emergency_state	Only trigger every mute_timeout during emergency
obstacle_stop	When obstacle is detected	3	Topic: /awapi/autoware/get/status Data: stop_reason	Only trigger after the mute_timeout period is over
restart_engage	when the vehicle restart the engage from stop, and velocity is more that 0	4	Service: /api/vehicle_voice/set/announce Topic: /awapi/vehicle/get/status Data: velocity	Only trigger after the mute_timeout period is over
running_music	The BGM to show that the vehicle is running. Trigger when autoware_state is Driving and will keep loop play while running.	-	Topic: /awapi/autoware/get/status Data: autoware_state Flag: self._in_driving_state	Independent from other announce. Will play together with other announce. Stop when in emergency mode
stop	When the autoware_state is in following state and self._in_driving_state is True - WaitingForRoute - WaitingForEngage - ArrivedGoal - Planning	4	Topic: /awapi/autoware/get/status Data: autoware_state Flag: not self._in_driving_state
temporary_stop	When vehicle stop in: - stop line - walkway - crosswalk - Merge from private road	2	Topic: /awapi/autoware/get/status Data: stop_reason	Only trigger after the mute_timeout period is over
turning_left	When vehicle is turning left	1	Topic: /awapi/vehicle/get/status Data: turn_signal	Trigger every mute_timeout when turning
turning_right	When vehicle is turning right	1	Topic: /awapi/vehicle/get/status Data: turn_signal	Trigger every mute_timeout when turning

License

voice and music：魔王魂、jtalk