IRRT IU Task Group
rev. Fri Oct 1 13:24:15 EST 2004 Steven D. Johnson
rev. Fri Oct 1 13:24:15 EST 2004 Steven D. Johnson
Task Descriptions
Vehicle Control Interface
The VCI includes
- a digital interface to vehicle sensors and actuators
- a message handler that accepts higher level commands
from guidance components elsewhere on the vehicle communications
network.
- a translator from high-level control commands to sequences
of low-level commands to the interface.
- an executor that conveys those commands to the interface
in a timely fashion over a dedicated serial link.
Other possible components include
- A monitor that communicates sensor information and control status
to components on the network
- A limiter process that enforces constraints on dynamic control of
the vehicle
The VCI configuration is hosted on purpose specific hardware and
an RT-Linux platform providing hard-real-time tasking
for timed control sequences.
References
Video Distribution.
A framework for multi-camera, multi-node processing of video (and other sensor)
streams in real time.
References
Feature Synthesis
Extracting useful information from sensor feeds. In order of priority,
- Hazard and Obsacle detection.
- Road finding.
- Positioning information.
Telemetry and Feature Projection
Cognition