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 AI Modules | 8 Data Types |
1 Functions of Motion Actuation Subsystem
The Motion Actuation Subsystem:
- 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 MAS-AMS Messages to Autonomous Motion Subsystem, possibly containing a 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 Odometer, Speedometer, and Accelerometer and sends it to ESS.
- AMS Command Interpreter interprets AMS-MAS Messages received from AMS and issues commands to Motors, Wheel, and Brakes.
- MAS Response Analyser interprets the responses received from Motors, Wheel, and Brakes and sends MAS-AMS 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 |
Odometer | Provides distance data. |
Speedometer | Provides instantaneous velocity. |
Accelerometer | Provides instantaneous acceleration. |
Other Environment data | Other environment data, e.g., humidity, pressure, temperature. |
AMS-MAS Message | High-level motion command. |
Wheel Motor Response | Forces wheels rotation, gives feedback. |
Steering Wheel Response | Moves wheels by an angle, gives feedback. |
Brake Response | Acts on brakes, gives feedback. |
Output | Comments |
Spatial Attitude | Position, Orientation and their velocity and acceleration vectors. |
Other Environment data | Environment data such as humidity, pressure, temperature. |
Wheel Motor Command | Forces wheels rotation, gives feedback. |
Steering Wheel Command | Moves wheels by an angle, gives feedback. |
Brakes Command | Acts on brakes, gives feedback. |
MAS-AMS Message | Feedback from MAS Response Analyser 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 Interpreter | Receives, analyses, and actuates AMS-MAS Message into specific commands to Brakes, Steering Wheels, and Wheel Motors. |
MAS Response Analyser | Receives and analyses responses from Brakes, Steering Wheel, and Wheel Motors. Assembles and forwards the MAS-AMS Response to AMS. |
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
AIM | Input | Output |
MAS Spatial Attitude Generation | – Odometer – Speedometer – Accelerometer |
– Spatial Attitude |
AMS Command Interpretation | – AMS-MAS Message
|
– Brake Command – Motor Command – Steering Command |
MAS Response Analysis | – Brake Response – Motor Response – Steering Response |
– MAS-AMS Message |
6 AIW, AIMs, and JSON
7 AI Modules
An initial version of the MAS AI Modules is available.
8 Data Types
An initial version of the MAS Data Types is available.