SAE AS 6091-2014 JAUS Unmanned Ground Vehicle Service Set《JAUS无人地面车辆服务机组》.pdf

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4、(outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.orgSAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/AS6091AEROSPACESTANDARDAS6091Issued 2014-07JAUS Unmanned Ground Vehicle Service Set

5、RATIONALEThis document, the JAUS Unmanned Ground Vehicle Service Set (AS6091), defines a message-passing interface for services commonly found in unmanned ground vehicle systems. These services represent the platform-independent capabilities common across multiple ground vehicle types. Inherited cap

6、abilities are specified in the JAUS Core Service Set (AS5710) and are frequently referenced herein. INTRODUCTIONThe primary goal of the JAUS Unmanned Ground Vehicle Service Set is logical interoperability between communicating elements in an unmanned system. To this end, each service defines the mes

7、sages (vocabulary) and protocol (rules) for data exchange. This logical interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as the JAUS Transport Specification AS5669, is used in conjunction with this specification. Each service in the JAUS U

8、nmanned Ground Vehicle Set can be described using the JAUS Service Interface Definition Language JSIDL. JSIDL creates a formal schema based on Relax NG Compact rng that allows for validation of each service definition described herein. Although knowledge of JSIDL is not required to understand or imp

9、lement this Specification, it is highly recommended for supporting context. For convenience, the JAUS Unmanned Ground Vehicle Service Set contains both a text based and XML based representation for each service. At time of publication, there have not been multiple independent implementations of this

10、 standard. As such, adopters should consider this standard “experimental” as errata to the document are discovered during initial implementation and testing.This document uses a number of conventions to simplify the text. All names are given in Camel Case. Names start with upper case, while referenc

11、e names start with a lower case. The tables and diagrams in this document are hand-transcribed from the JSIDL XML specification in the Appendixes. In case of transcription errors, the XML specification should be considered correct. SAE INTERNATIONAL AS6091 Page 2 of 113 TABLE OF CONTENTS 1. SCOPE 61

12、.1 Purpose . 61.2 JAUS Core Service Set . 61.3 Compliance . 71.4 Document Organization 72. REFERENCES 72.1 Applicable Documents 72.1.1 SAE Publications . 72.1.2 JAUS Technical References . 72.1.3 Other Publications . 72.2 List of Acronyms 83. COMMON CONVENTIONS 93.1 Constant Values 93.2 Vehicle Coor

13、dinate System . 93.3 Percent Effort 94. SERVICE DEFINITIONS 104.1 Stabilizer Driver . 104.1.1 Description 104.1.2 Assumptions 104.1.3 Vocabulary 104.1.4 Encoding . 114.1.5 Protocol Behavior 154.2 SkidSteerDriver . 164.2.1 Description 164.2.2 Assumptions 164.2.3 Vocabulary 174.2.4 Encoding . 174.2.5

14、Protocol Behavior 184.3 AckermannDriver 194.3.1 Description 204.3.2 Assumptions 204.3.3 Vocabulary 204.3.4 Encoding . 204.3.5 Protocol Behavior 234.4 ParkingBrakeDriver . 244.4.1 Description 244.4.2 Assumptions 244.4.3 Vocabulary 244.4.4 Encoding . 254.4.5 Protocol Behavior 264.5 Drive Train Driver

15、274.5.1 Description 274.5.2 Assumptions 274.5.3 Vocabulary 284.5.4 Encoding . 284.5.5 Protocol Behavior 324.6 Power Plant Manager . 344.6.1 Description 344.6.2 Assumptions 344.6.3 Vocabulary 344.6.4 Encoding . 354.6.5 Protocol Behavior 434.7 Odometry Service . 444.7.1 Description 44SAE INTERNATIONAL

16、 AS6091 Page 3 of 113 4.7.2 Assumptions 444.7.3 Vocabulary 454.7.4 Encoding . 454.7.5 Protocol Behavior 464.8 Platform Specifications Service 474.8.1 Description 474.8.2 Assumptions 474.8.3 Vocabulary 474.8.4 Encoding . 484.8.5 Protocol Behavior 504.9 Illumination Service . 514.9.1 Description 514.9

17、.2 Assumptions 514.9.3 Vocabulary 514.9.4 Encoding . 524.9.5 Protocol Behavior 544.10 Annunciator Service 554.10.1 Description 564.10.2 Assumptions 564.10.3 Vocabulary 564.10.4 Encoding . 564.10.5 Protocol Behavior 585. NOTES 59APPENDIX A - XML FOR SERVICE DEFINITIONS 60FIGURE 1 - DEFINITION OF PLAT

18、FORM ORIENTATION . 9FIGURE 2 - STABILIZER DRIVER SERVICE PROTOCOL BEHAVIOR . 15FIGURE 3 - SKID STEER DRIVER SERVICE PROTOCOL BEHAVIOR 18FIGURE 4 - ACKERMANN DRIVER SERVICE PROTOCOL BEHAVIOR . 23FIGURE 5 - PARKING BRAKE DRIVER SERVICE PROTOCOL BEHAVIOR 26FIGURE 6 - DRIVE TRAIN DRIVER SERVICE PROTOCOL

19、 BEHAVIOR . 32FIGURE 7 - POWER PLANT MANAGER PROTOCOL BEHAVIOR 43FIGURE 8 - ODOMETRY SERVICE PROTOCOL BEHAVIOR . 46FIGURE 9 - PLATFORM SPECIFICATION SERVICE PROTOCOL BEHAVIOR 50FIGURE 10 - ILLUMINATION SERVICE PROTOCOL BEHAVIOR . 54FIGURE 11 - ANNUNCIATOR SERVICE PROTOCOL BEHAVIOR 58TABLE 1 - STABIL

20、IZER DRIVER SERVICE MESSAGE VOCABULARY 10TABLE 2 - QUERYSTABILIZERCAPABILITIES MESSAGE ENCODING . 11TABLE 3 - SETSTABILIZEREFFORT MESSAGE ENCODING . 11TABLE 4 - QUERYSTABILIZEREFFORT MESSAGE ENCODING . 11TABLE 5 - SETSTABILIZERPOSITION MESSAGE ENCODING 12TABLE 6 - QUERYSTABILIZERPOSITION MESSAGE ENC

21、ODING 12TABLE 7 - REPORTSTABILIZERCAPABILITIES MESSAGE ENCODING . 13TABLE 8 - REPORTSTABILIZEREFFORT MESSAGE ENCODING . 14TABLE 9 - REPORTSTABILIZERPOSITION MESSAGE ENCODING 14TABLE 10 - STABILIZER DRIVER SERVICE ENTRY/EXIT ACTION TABLE . 15TABLE 11 - STABILIZER DRIVER SERVICE TRANSITION TABLE . 15T

22、ABLE 12 - STABILIZER DRIVER SERVICE CONDITIONS TABLE 15TABLE 13 - STABILIZER DRIVER SERVICE TRANSITIONS ACTIONS TABLE . 16TABLE 14 - SKIDSTEER DRIVER SERVICE MESSAGE VOCABULARY 17TABLE 15.- SET SKID STEER EFFORT MESSAGE ENCODING 17TABLE 16 - QUERY SKID STEER EFFORT MESSAGE ENCODING 17TABLE 17 - REPO

23、RT SKID STEER EFFORT MESSAGE ENCODING 18TABLE 18 - SKID STEER DRIVER SERVICE ENTRY/EXIT ACTION TABLE 19TABLE 19 - SKID STEER DRIVER SERVICE TRANSITION TABLE 19TABLE 20 - SKID STEER DRIVER SERVICE CONDITIONS TABLE . 19TABLE 21 - SKID STEER DRIVER SERVICE TRANSITIONS ACTIONS TABLE . 19SAE INTERNATIONA

24、L AS6091 Page 4 of 113 TABLE 22 - ACKERMANN DRIVER SERVICE MESSAGE VOCABULARY . 20TABLE 23 - SETACKERMANNCONFIGURATION MESSAGE ENCODING. 21TABLE 24 - QUERYACKERMANNCONFIGURATION MESSAGE ENCODING . 21TABLE 25 - REPORTACKERMANNCONFIGURATION MESSAGE ENCODING 22TABLE 26 - ACKERMANN DRIVER SERVICE ENTRY/

25、EXIT ACTION TABLE 23TABLE 27 - ACKERMANN DRIVER SERVICE TRANSITION TABLE 23TABLE 28 - ACKERMANN DRIVER SERVICE CONDITIONS TABLE 23TABLE 29 - ACKERMANN DRIVER SERVICE TRANSITIONS ACTIONS TABLE . 23TABLE 30 - PARKING BRAKE DRIVER SERVICE MESSAGE VOCABULARY . 24TABLE 31 - SETPARKINGBRAKE MESSAGE ENCODI

26、NG 25TABLE 32 - QUERYPARKINGBRAKE MESSAGE ENCODING 25TABLE 33 - REPORTPARKINGBRAKE MESSAGE ENCODING . 25TABLE 34 - PARKING BRAKE DRIVER SERVICE ENTRY/EXIT ACTION TABLE 26TABLE 35 - PARKING BRAKE DRIVER SERVICE TRANSITION TABLE 26TABLE 36 - PARKING BRAKE DRIVER SERVICE CONDITIONS TABLE . 26TABLE 37 -

27、 PARKING BRAKE DRIVER SERVICE TRANSITIONS ACTIONS TABLE 27TABLE 38 - DRIVETRAINDRIVER SERVICE MESSAGE VOCABULARY . 28TABLE 39 - SETTRANSMISSIONSTATE MESSAGE ENCODING . 28TABLE 40 - QUERYTRANSMISSIONSTATE MESSAGE ENCODING . 29TABLE 41 - SETTRANSFERCASESTATE MESSAGE ENCODING . 29TABLE 42 - QUERYTRANSF

28、ERCASESTATE MESSAGE ENCODING . 29TABLE 43 - QUERYTRANSMISSIONCAPABILITIES MESSAGE ENCODING 29TABLE 44 - REPORTTRANSMISSIONSTATE MESSAGE ENCODING . 30TABLE 45 - REPORTTRANSFERCASESTATE MESSAGE ENCODING . 31TABLE 46 - REPORTTRANSMISSIONCAPABILITIES MESSAGE ENCODING 31TABLE 47 - DRIVE TRAIN DRIVER SERV

29、ICE ENTRY/EXIT ACTION TABLE . 32TABLE 48 - DRIVE TRAIN DRIVER SERVICE TRANSITION TABLE . 32TABLE 49 - DRIVE TRAIN DRIVER SERVICE CONDITIONS TABLE 33TABLE 50 - DRIVE TRAIN DRIVER SERVICE TRANSITIONS ACTIONS TABLE . 33TABLE 51 - POWER PLANT MANAGER SERVICE MESSAGE VOCABULARY . 34TABLE 52 - SETPOWERPLA

30、NTCONFIGURATION MESSAGE ENCODING 35TABLE 53 - QUERYPOWERPLANTCONFIGURATION MESSAGE ENCODING 36TABLE 54 - QUERYPOWERPLANTCAPABILITIES MESSAGE ENCODING . 36TABLE 55 - QUERYPOWERPLANTSTATUS MESSAGE ENCODING . 37TABLE 56 - REPORTPOWERPLANTCONFIGURATION MESSAGE ENCODING 37TABLE 57 - REPORTPOWERPLANTCAPAB

31、ILITIES MESSAGE ENCODING 39TABLE 58 - REPORTPOWERPLANTSTATUS MESSAGE ENCODING 41TABLE 59 - POWER PLANT MANAGER STATE TRANSITION TABLE . 43TABLE 60 - POWER PLANT MANAGER CONDITIONS TABLE . 44TABLE 61 - POWER PLANT MANAGER TRANSITION ACTIONS . 44TABLE 62 - ODOMETRY SERVICE MESSAGE VOCABULARY 45TABLE 6

32、3 - RESETODOMETRY MESSAGE ENCODING 45TABLE 64 - QUERYODOMETRY MESSAGE ENCODING . 45TABLE 65 - REPORTODOMETRY MESSAGE ENCODING . 46TABLE 66 - ODOMETRY SERVICE STATE TRANSITION TABLE . 46TABLE 67 - ODOMETRY SERVICE CONDITIONS TABLE . 47TABLE 68 - ODOMETRY SERVICE TRANSITION ACTIONS . 47TABLE 69 - PLAT

33、FORM SPECIFICATIONS SERVICE MESSAGE VOCABULARY 47TABLE 70 - QUERYPLATFORMSPECIFICATIONS MESSAGE ENCODING 48TABLE 71 - REPORTPLATFORMSPECIFICATIONS MESSAGE ENCODING 48TABLE 72 - PLATFORM SPECIFICATION SERVICE TRANSITION TABLE 50TABLE 73 - PLATFORM SPECIFICATION SERVICE TRANSITION ACTIONS . 50TABLE 74

34、 - ILLUMINATIONSERVICE SERVICE MESSAGE VOCABULARY 51TABLE 75 - SETILLUMINATIONSTATE MESSAGE ENCODING . 52TABLE 76 - QUERYILLUMINATIONSTATE MESSAGE ENCODING . 52TABLE 77 - QUERYILLUMINATIONCONFIGURATION MESSAGE ENCODING 53TABLE 78 - REPORTILLUMINATIONSTATE MESSAGE ENCODING . 53TABLE 79 - REPORTILLUMI

35、NATIONCONFIGURATION MESSAGE ENCODING 54TABLE 80 - ILLUMINATION SERVICE STATE TRANSITION TABLE 55TABLE 81 - ILLUMINATION SERVICE CONDITIONS TABLE 55SAE INTERNATIONAL AS6091 Page 5 of 113 TABLE 82 - ILLUMINATION SERVICE TRANSITION ACTIONS 55TABLE 83 - ANNUNCIATOR SERVICE MESSAGE VOCABULARY 56TABLE 84

36、- SETANNUNCIATORSTATE MESSAGE ENCODING 56TABLE 85 - QUERYANNUNCIATORSTATE MESSAGE ENCODING 57TABLE 86 - QUERYANNUNCIATORCONFIGURATION MESSAGE ENCODING . 57TABLE 87 - REPORTANNUNCIATORSTATE MESSAGE ENCODING 57TABLE 88 - REPORTANNUNCIATORCONFIGURATION MESSAGE ENCODING . 58TABLE 89 - ANNUNCIATOR SERVIC

37、E STATE TRANSITION TABLE . 59TABLE 90 - ANNUNCIATOR SERVICE CONDITIONS TABLE . 59TABLE 91 - ANNUNCIATOR SERVICE TRANSITION ACTIONS . 59SAE INTERNATIONAL AS6091 Page 6 of 113 1. SCOPE This document defines a set of standard application layer interfaces called JAUS Unmanned Ground Vehicle Services.JAU

38、S Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate their activities. The Unmanned Ground Vehicle Services represent the platform-specific capabilities commonly found in UGVs, and augment the Mobilty Service Set AS6009

39、which is platform-agnostic. At present ten (10) services are defined in this document. These services are categorized as: Platform Description Services - This service provides information about the vehicle platform, including mobility limits and geometric properties: x Platform Specification Service

40、 UGV Driver Services - These services provide low-level platform mobility for the two most common UGV steering approaches, providing a service in support of each: x Ackermann Driver Service x Skid Steer Driver Service Powerplant and Drivetrain Services - These services provide command and status int

41、erface to the vehicle powertrain. The Powerplant Service provides support for several classes of vehicle powerplant; the Drivetrain Service provides control of transmissions and transfer cases. The services in this category are listed as follows: x Powerplant Service x Drivetrain Service Platform St

42、abilization Services - Presently, only one Platform Stabilization Service is defined, in support of Flipper/Articulator style anti-pitch mechanisms. Support for anti-roll stabilization (“outriggers”) and stabilizers based on CGshifting may be added in a future revision. x Stabilizer Service Auxiliar

43、y Devices Services - These services provide interface to auxiliary devices, including lighting devices, annunciation devices (horns, sirens, synthesized speech, et al) and other discrete auxiliary devices such as parking brakes.x Illumination Service x Annunciation Service x Parking Brake Driver x O

44、dometry Service 1.1 Purpose The purpose of this document is to facilitate interoperation of unmanned vehicle systems, subsystems, and payloads by standardization of the message set and associated protocol. 1.2 JAUS Core Service Set The JAUS Service Definitions defined herein make use of the inherita

45、nce functionality provided by JSIDL to incorporate capabilities as specified by the JAUS Core Service Set (AS5710). These documents must be used together to define a complete service. It is important to note that details related to Message Serialization and Understanding Protocol Descriptions can be

46、 found in the JAUS Core Service Set document, and are not repeated here. SAE INTERNATIONAL AS6091 Page 7 of 113 1.3 Compliance The JAUS Unmanned Ground Vehicle Service Set must support compliance assessment. To do so, this specification must be sufficiently precise to enable the “compliant”/”not com

47、pliant” distinction to be made independently of the underlying transport mechanism. It is important to note that implementations are considered compliant to individual Service Definitions within this Specification; it is not necessary that a single entity realize each Service to be considered compliant. 1.4 Document Organization The layout of this document is as follows. Section 3 specifies common conventions and definitions. Section 4 specifies the JAUS Service Definition for each of the services, with parti