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An analysis of a layered system architecture for autonomous construction vehicles
RISE, Swedish ICT, SICS, Software and Systems Engineering Laboratory.ORCID iD: 0000-0002-3986-1196
RISE, Swedish ICT, SICS, Software and Systems Engineering Laboratory.ORCID iD: 0000-0001-8891-033X
2015 (English)Conference paper, Published paper (Refereed)
Abstract [en]

It has been suggested in the literature to organize software in autonomous vehicles as hierarchical layers where each layer makes its own decisions based on its own world model. This paper presents two alternative designs for autonomous construction vehicles based on the layered framework 4D/RCS. As a first step, the typical use cases for these vehicles were defined. Then one use case for a hauler was traversed through the two alternatives to see how they supported safety, flexibility and the use of a product platform. We found that the coordination between bucket control and motion control must be done at a low level in the hierarchy and that the relationship between the vehicle actuators and the built-in autonomous system is important for how the software is organized.

Place, publisher, year, edition, pages
2015, 8. p. 582-588
Keyword [en]
actuators, automobiles, construction equipment, materials handling equipment, motion control, remotely operated vehicles, 4D/RCS, automotive system, autonomous construction vehicles, autonomous vehicles, bucket control, decision making, hauler, hierarchical layers, layered system architecture, motion control, product platform, software, vehicle actuators, Actuators, Asphalt, Companies, Computer architecture, Software, Vehicles, automotive systems, autonomous vehicles, system architecture, systems engineering, systems-of-systems
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:ri:diva-24440OAI: oai:DiVA.org:ri-24440DiVA, id: diva2:1043521
Conference
Systems Conference (SysCon), 2015 9th Annual IEEE International
Projects
SARPA
Available from: 2016-10-31 Created: 2016-10-31 Last updated: 2018-01-13Bibliographically approved

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Citation style
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Language
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  • en-US
  • fi-FI
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Output format
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