Data Flow

Data Flow

Middleware

• CAN → Zenoh: speed, battery, lights, etc.
• Zenoh → CAN: steering, throttle, lights.

Detection → Controller

• lane_midpoint_error → PIDController (steering)
• trajectory_line → MPCController (steering)
• obstacle/road + object tracks → emergency brake and ACC inputs
• sign/light classifications → behavior adjustments (speed/brake)

Controller → Middleware

• Control outputs: steering angle, throttle
• Body: lights, hazards, indicators

Mode control

• Example: Vehicle/1/ADAS/Enable and related keys.
• Controllers switch sources and reset integrators on mode changes.

Notes

• Exact key expressions are defined in config/Zenoh/*.json and Communication publishers/subscribers.