components.collision-guard-node

Module quick links

Collision guard node is a ROS 2 software component that detects obstacles in input_stream camera images and publishes brake_request.

One ASIL C requirement and one missed-brake-request failure link to proposed input plausibility and frame-continuity checks. Independent camera and lidar sensing remains an open design issue.

Model Checking Summary

All severities: 1 total / 0 without filed issue · Critical: 0 total / 0 without filed issue · High: 1 total / 0 without filed issue · Moderate: 0 total / 0 without filed issue · Low: 0 total / 0 without filed issue

STIG Task Problems

Build Provenance

  • Project version: 0.1.0-SNAPSHOT

  • STIG version: 4.5.0

Source Repositories

Packages

The missed-brake-request failure propagates through the application hierarchy. Plausibility and successive-image checks share one camera stream; independent camera and lidar sensing remains a GAP tracked in design issue #1.

The collision guard node subscribes to timestamped camera images on input_stream and publishes a Boolean brake_request through the application when it detects an obstacle in the forward travel corridor.

Issues

Filed issues in external tracking systems

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