Standard

SAE AS6091

Published

Note: This standard has a new edition: SAE AS6091

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Abstract

This document defines a set of standard application layer interfaces called JAUS Unmanned Ground Vehicle Services. JAUS 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] 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: • Platform Specification Service  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:  • Ackermann Driver Service  • Skid Steer Driver Service Powerplant and Drivetrain Services - These services provide command and status interface 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: • Powerplant Service  • Drivetrain Service Platform Stabilization 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 CG shifting may be added in a future revision. • Stabilizer Service Auxiliary 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. • Illumination Service  • Annunciation Service  • Parking Brake Driver  • Odometry Service 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. JAUS Core Service Set The JAUS Service Definitions defined herein make use of the inheritance 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 found in the JAUS Core Service Set document, and are not repeated here. 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 compliant” 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. 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 particular emphasis on the description, assumptions, message definition, and protocol behavior. Finally, Appendix A contains the complete JSIDL representation for each service and their associated message set.

Document information

  • Standard from SAE_AC
  • Published:
  • Version: 0
  • Document type: IS