• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Unmanned Systems Technology VIII pt.2 >An active emergency stop design and protocol for unmanned vehicles
【24h】

An active emergency stop design and protocol for unmanned vehicles

机译：无人机的主动紧急停车设计和协议

获取原文
获取原文并翻译 | 示例
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Emergency stop systems are an integral and lifesaving component of large unmanned vehicles. Some E-stop designs may require their own separate data radio link, and passive listening designs can fail due to false carrier signals, or be delayed by buffering of data if no protocol handshake is required. This paper describes an active emergency stop architecture with data handshake that can share a radio data link with primary command and control communications such as using JAUS. Given a data link where packet delivery latency is well below E-stop timeout time, the OCU and vehicle can exchange E-stop keepalive messages actively, with sequence numbers to guard against the possibility of old data deceiving the vehicle and keeping the E-stop from triggering. Since the vehicle and OCU are addressing each other and not merely looking for a carrier signal, E-stop communications can coexist with other data traffic so long as packet delivery time is well below E-stop timeout time. An example implementation is over a computer network link supporting TCP/IP, such as using common off-the-shelf 802.11 equipment, or similar radios that might achieve longer range with somewhat lower data rate. With 802.11, round-trip delivery times are generally below 10 milliseconds, providing margin for many retransmissions within a typical 500 millisecond E-stop timeout time. Another benefit of this active E-stop design is immediate triggering of a stop using an E-stop button. Rather than waiting for an E-stop timeout time to expire, an explicit message triggering a stop can be sent from the OCU-side E-stop button device to the vehicle E-stop circuitry (which can still be independent from the VCU). This will trigger a stop within the packet network delivery time, just 10 milliseconds in our example.
机译：紧急停车系统是大型无人驾驶汽车不可或缺的救生组件。某些急停设计可能需要其自己的单独数据无线电链路，而无源侦听设计可能由于错误的载波信号而失败，或者如果不需要协议握手，则可能由于数据缓冲而延迟。本文介绍了一种具有数据握手功能的主动紧急停车架构，该架构可以与主要命令和控制通信（例如使用JAUS）共享无线电数据链路。给定数据链路的数据包传递延迟远低于急停超时时间，OCU和车辆可以主动交换急停保持活动消息，并带有序列号，以防止旧数据欺骗车辆并保持急停的可能性从触发。由于车辆和OCU正在互相寻址，而不仅是在寻找载波信号，因此，只要数据包传递时间远低于紧急停车超时时间，紧急停车通信就可以与其他数据流量共存。一个示例实现是在支持TCP / IP的计算机网络链路上进行的，例如使用通用的现成802.11设备或类似的无线电，这些无线电可能会以较低的数据速率实现更长的传输范围。使用802.11，往返传送时间通常低于10毫秒，从而为典型的500毫秒急停超时时间内的多次重传提供了余量。这种主动式急停设计的另一个好处是可以使用急停按钮立即触发停止。可以从OCU侧紧急停止按钮设备向车辆紧急停止电路（仍然可以独立于VCU）发送触发停止的显式消息，而不是等待紧急停止超时时间到期。这将触发分组网络传递时间内的停止，在我们的示例中仅为10毫秒。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号