Implementation and demonstration of the L4 Safety Island software design for Autoware, built on nano-ros.
| Item | Value |
|---|---|
| Design document | L4 Safety Island for Autoware — Software Design, Part 1 |
| Design version | Release V1.0 (version 20261023) |
| Source | autowarefoundation/RFC_L4_SafetyIslandDesign, tag v1.0 |
Node identifiers used in this repository (I* migrated Autoware nodes, N* new island nodes,
H* new HPC nodes, behaviours B1–B6) follow the design document.
Importing the Autoware nodes onto the S32Z2 island (X-S32Z27X-DC, FreeRTOS + nano-ros). The plan is in docs/; the work is tracked in GitHub issues (below).
GitHub keeps the live state: an open issue is work still to do, a closed one is done. The links below open the current lists.
The counts in brackets are (completed / open) issues, recounted by the progress workflow whenever an issue changes (last update: 2026-11-05).
| View | Link (completed / open) |
|---|---|
| Tracking issue: pickup order, dependencies, open decisions | #1 |
| All open issues | open issues (0 / 14) |
| Open imported-node issues | open imported-node (0 / 14) |
| Open issues by work package | WP1 (0 / 1) · WP2 (0 / 2) · WP3 (0 / 5) · WP4 (0 / 3) · WP5 (0 / 2) |
| Open issues in the safety core (partition P0) | open P0 (0 / 7) |
| Completed | closed issues (0 / 14) |
In dependency order (see PLAN-S32Z2.md §2.2). Each issue shows whether it is open or closed, and its task checklist shows how far it has got.
| Node | Package | WP | Partition | Issue |
|---|---|---|---|---|
I9–I12 |
Trajectory follower (MPC + PID) | WP1 | P3 | #2 |
I16 |
Vehicle interface (golf cart) | WP2 | P0 | #3 |
I5 |
stop_mode_operator | WP2 | P0 | #4 |
I2 + I4 |
command_mode_decider + types | WP3 | P0 | #5 |
I7 |
mrm_handler | WP3 | P0 | #6 |
I3 |
command_mode_switcher | WP3 | P0 | #7 |
I6 |
mrm_emergency_stop_operator | WP3 | P0 | #8 |
I1 |
control_command_gate | WP3 | P0 | #9 |
I8 |
control_validator | WP4 | P1 | #11 |
I14 |
shift_decider (optional) | WP4 | P3 | #12 |
I13 |
pure_pursuit | WP4 | P1 | #10 |
I19 |
autonomous_emergency_braking | WP5 | P2 | #13 |
I20 |
collision_detector | WP5 | P2 | #14 |
New island nodes (N*) and HPC-side nodes (H*) do not have issues yet.
Two safety-island platforms, one shared code base (design §9.5, D10):
| Design branch | Platform |
|---|---|
| Least-Cost | NXP S32Z2 (X-S32Z27X-DC board, FreeRTOS + nano-ros) |
| Maximum-Safety | Renesas R-Car X5H |
| Document | Content |
|---|---|
| docs/ARCHITECTURE.md | How the two platforms share code: layers, rules, node placement, open points |
| docs/WP0-WP3-SafetyFloor.md | WP0–WP3 node by node: messages, inputs/outputs, build tasks, tests, demo D1 |
| docs/PLAN-S32Z2.md | Implementation and demo plan on NXP S32Z2: node inventory, node dependency order, work packages, tests, demos |