<–Autonomous Motion Subsystem (AMS)   Go to ToC  CAV-to-Everything (V2X)–>

Index

7.1        Functions of Subsystem

7.2        Reference Architecture of Subsystem

7.3        Input/Output Data of Subsystem

7.4        Functions of AI Modules

7.5        Input/Output Data of AI Modules

7.1        Functions of Subsystem

The Motion Actuation Subsystem:

  1. Transmits spatial and environmental information gathered from its sensors and its mechanical subsystems to the Environ­ment Sensing Subsystem.
  2. Receives AMS-MAS Commands from the Autonomous Motion Subsystem.
  3. Translates Commands into specific Commands to its own mechanical subsystems, e.g., brakes, wheels directions, and wheel motors.
  4. Receives Responses from its mechanical subsystems.
  5. Packages Responses into high-level information.
  6. Sends MAS-AMS Responses to AMS Command contain the value of a Spatial Attitudeat an intermediate Pose and Time.

7.2        Reference Architecture of Subsystem

Figure 8 represents the Motion Actuation Subsystem Reference Model.

Figure 8 – Motion Actuation Subsystem Reference Model

7.3        Input/Output Data of Subsystem

Table 12 gives the input/output data of Motion Actuation Subsystem.

Table 12 – I/O data of Motion Actuation Subsystem

Input Comments
Odometer Provides distance data.
Speedometer Provides instantaneous velocity.
Accelerometer Provides instantaneous acceleration.
Other Environment data Provide other environment data, e.g., humidity, pressure, temperat­ure.
AMS-MAS Command High-level motion command.
Brakes Acts on brakes, gives feedback.
Wheel Directions Moves wheels by an angle, gives feedback.
Wheel Motors Forces wheels rotation, gives feedback.
Output Comments
Motion data Position, velocity, acceleration.
Other data Other environment data.
MAS-AMS Response Feedback from Response Analyser during and after Command ex­ecution.

7.4        Functions of AI Modules

Table 13 gives the AI Modules of Autonomous Motion Subsystem.

Table 13 – AI Modules of Motion Actuation Subsystem

AIM Function
Spatial Attitude Generation Computes Ego CAV’s Spatial Attitude using GNSS, odometer, speedometer, and accelerometer data.
AMS-MAS Command Interpreter and MAS-AMS Response Analyser Converts AMS Commands into specific actuation commands to Brakes, Wheel directions, and Wheel motors. Forwards MAS-AMS Feedbacks to AMS.

7.5        Input/Output Data of AI Modules

Table 14 gives, for each AIM (1st column), the input data (2nd column) from which AIM (column) and the output data (3rd column).

Table 14 –Motion Actuation Subsystem data

CAV/AIM Input Output
AMS Command Interpreter and MAS Response Analyser AMS-MAS Command

Brakes Response

Wheel Directions Response

Wheel Motors Response

 MAS-AMS Response

Brakes Command

Wheel Motors Command

Wheel Directions Command
MAS Spatial Attitude Generation Odometer

Speedometer

Accelerometer

 Spatial Attitude

 

<–Autonomous Motion Subsystem (AMS)   Go to ToC  CAV-to-Everything (V2X)–>