1 Functions | 2 Reference Model | 3 I/O Data |
4 Functions of AI Modules | 5 I/O Data of AI Modules | 6 AUW, AIMs, and JSON |
7 Reference Software | 8 Conformance Testing | 9 Performance Assessment |
1 Functions of Motion Actuation Subsystem
The Motion Actuation Subsystem (MAS):
- Transmits spatial and environmental information gathered from its sensors and mechanical subsystems to the Environment Sensing Subsystem (ESS).
- Receives AMS-MAS Message from the Autonomous Motion Subsystem (AMS).
- Translates AMS-MAS Message into specific Commands to its own mechanical subsystems, e.g., Brakes, Steering, and Motors.
- Receives Responses from its mechanical subsystems.
- Packages Responses into MAS-AMS Messages.
- Sends AMS-MAS Messages to Autonomous Motion Subsystem, possibly containing an updated Road State.
2 Reference Architecture of Motion Actuation Subsystem
Figure 1 represents the Motion Actuation Subsystem Reference Model.
Figure 1 – Motion Actuation Subsystem Reference Model
The operation of the Motion Actuation Subsystem unfolds as follows:
- “Other Environment Data” are transferred to the ESS.
- MAS Spatial Attitude Generation computes the Ego CAV Spatial Attitude Attitude using Spatial Data (Odometer, Speedometer, and Accelerometer) Data and sends it to the ESS.
- AMS Command Interpretation interprets AMS-MAS Messages received from AMS and issues commands to Motors, Wheel, and Brakes.
- MAS Response Analysis interprets the responses received from Motors, Wheel, and Brakes and sends AMS-MAS Messages to to AMS.
3 I/O Data of Motion Actuation Subsystem
Table 1 gives the input/output data of Motion Actuation Subsystem.
Table 1 – I/O data of Motion Actuation Subsystem
Input | Comments |
Spatial Data | Provides distance data. |
Weather Data | Data such as humidity, pressure, temperature. |
AMS-MAS Message | High-level motion command. |
Motor Response | Forces wheel rotation, Motor gives gives feedback. |
Wheel Response | Moves wheel by an angle, Wheel gives feedback. |
Brake Response | Acts on brake, Brake gives feedback. |
Output | Comments |
Spatial Attitude | Position, Orientation and their velocity and acceleration vectors. |
Weather Data | Data such as humidity, pressure, temperature, and ice. |
Motor Command | Forces wheels rotation, gives feedback. |
Wheel Command | Moves wheels by an angle, gives feedback. |
Brake Command | Acts on brakes, gives feedback. |
AMS-MAS Message | Feedback from MAS Response Analysis during and after AMS-MAS Message execution. |
4 Functions of Motion Actuation Subsystem’s AI Modules
Table 2 gives the AI Modules of Autonomous Motion Subsystem.
Table 2 – Functions of Motion Actuation Subsystem’s AI Modules
AIM | Function |
Spatial Attitude Generation | Computes Ego CAV’s Spatial Attitude using odometer, speedometer, and accelerometer data. |
AMS Command Interpretation | Receives, analyses, and actuates AMS-MAS Message into specific commands to Brakes, Steering Wheels, and Wheel Motors. |
MAS Response Analysis | Receives and analyses responses from Brakes, Steering Wheel, and Wheel Motors. Assembles and forwards the MAS-AMS Response to AMS. |
Ice Condition Analysis | Adds ice condition information to input Weather Data. |
5 I/O Data of Motion Actuation Subsystem’s AI Modules
Table 3 gives, for each AIM (1st column), the input data (2nd column) from which AIM (column) and the output data (3rd column).
Table 3 – I/O Data of Motion Actuation Subsystem’s AI Modules
6 AIW, AIMs, and JSON
AIW | AIMs | AIM Names | JSON |
CAV-MAS | Motion Actuation Subsystem | X | |
CAV-MSG | Spatial Attitude Generation | X | |
CAV-ACI | AMS Command Interpretation | X | |
CAV-MRA | MAS Response Analysis | X | |
CAV-ICA | Ice Condition Analysis | X |
7 Reference Software
8 Conformance Testing