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An analysis of a layered system architecture for autonomous construction vehicles
Volvo Construction Equipment, Eskilstuna, Sweden.ORCID-id: 0000-0002-0527-169X
Mälardalens högskola, Akademin för innovation, design och teknik, Inbyggda system.ORCID-id: 0000-0002-3986-1196
Mälardalens högskola, Akademin för innovation, design och teknik, Innovation och produktrealisering.ORCID-id: 0000-0001-8891-033X
2015 (Engelska)Ingår i: 9th Annual IEEE International Systems Conference, SysCon 2015 - Proceedings, 2015, s. 582-588Konferensbidrag, Publicerat paper (Refereegranskat)
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. 

Ort, förlag, år, upplaga, sidor
2015. s. 582-588
Nyckelord [en]
automotive systems, autonomous vehicles, system architecture, systems engineering, systems-of-systems, Amphibious vehicles, Vehicles, Alternative designs, Autonomous constructions, Autonomous systems, Layered system architecture, System architectures, Systems of systems, Computer architecture
Nationell ämneskategori
Datorsystem
Identifikatorer
URN: urn:nbn:se:mdh:diva-29127DOI: 10.1109/SYSCON.2015.7116814ISI: 000380537800088Scopus ID: 2-s2.0-84941309612ISBN: 9781479959273 (tryckt)OAI: oai:DiVA.org:mdh-29127DiVA, id: diva2:856695
Konferens
9th Annual IEEE International Systems Conference, SysCon 2015, 13 April 2015 through 16 April 2015
Tillgänglig från: 2015-09-24 Skapad: 2015-09-24 Senast uppdaterad: 2019-09-20Bibliografiskt granskad

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Axelsson, JakobFröberg, Joakim

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Totalt: 93 träffar
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