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vehicle-status-gear-status.md

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last_updated 2026-01-21
interface_type topic
interface_name /vehicle/status/gear_status
data_type_name autoware_vehicle_msgs/msg/GearReport
data_type_link https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/GearReport.msg
rate 10 or N/A
qos_reliability reliable
qos_durability volatile or transient_local
qos_depth 1

{{ interface_name }}

Specifications

{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}

Description

Get the current gear status of the vehicle. The statuses are listed in the table below. It is recommended to set QoS to transient_local and publish only when the status changes, but currently many implementations publish the status periodically. Therefore, ensure consistency across the entire system.

Value Description
PARKING The engine or motor is disconnected from the tires and the stopping mechanism is activated.
NEUTRAL The engine or motor is disconnected from the tires.
DRIVE The engine or motor is connected to the tires in the forward direction.
REVERSE The engine or motor is connected to the tires in the backward direction.

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 report field, use the valid values listed above. The NONE value can be used internally by programs, but will never be sent as a topic. Values ​​such as LOW and DRIVE_2 ​​can be used if the vehicle has its own special gear types, but a dedicated implementation is required to handle this.

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.

Hardware Fault: If the vehicle platform reports a sensor fault, a diagnostic error is reported.

Support

This interface is required. If the vehicle does not have gear, simulate the gear behavior.

Limitations

Latency: Gear shifting is a mechanical process that takes time (typically 0.5s to 2.0s). The status reported here reflects the actual engaged gear, so there will be a delay after sending a command. Autoware must handle this transition period.

Use Cases

  • Control the vehicle for autonomous driving.
  • Display current gear status to the operator.

Requirement

  • Support getting the current gear status of the vehicle.
  • Support vehicle-specific gear status if necessary.

Design

  • Support four typical gear types: PARKING, NEUTRAL, DRIVE, and REVERSE.
  • Unused values ​​can be used for special gear types.
  • Simulate gear if necessary to increase reusability.

History

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