ARM AS 3192242 - Caterpillar

The autonomous stop (A-Stop) system is used to stop the autonomous trucks in the area in case of emergency or unplanned need. The system sends a radio signal to all the trucks within the operating range of the handheld transmitter. The communications of the A-Stop system operate independently from the normal autonomy system and can be used even if Cat MineStar System cannot communicate with the truck.Each person working in the area of autonomous operation shall be issued an A-Stop transmitter and is required to carry the transmitter at all times.Autonomous Stop Receivers
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A-Stop Receiver (8) antenna connector
Table 2
A-Stop Connector    
Pin Location    Signal Identification    
1     + Battery    
2     - Battery    
3     NC    
4     NC    
5     NC    
6     NC    
7     NC    
8     CAN Hi    
9     CAN Lo    
10     CAN Shield    
11     NC    
12     NC    There are two A-Stop receivers per autonomous truck. The receivers are powered from the machine 24V supply. The receivers send and transmit at 919 MHz through the antenna which connects with a cable to the antenna connector (8) located on the side of the receiver. Each receiver communicates with the autonomous machine using a CAN bus. For redundancy, one receiver communicates over the machine CAN circuit and one receiver communicates over the autonomous CAN circuit. Under normal operation, the receivers transmit a periodic heartbeat message until an Autonomous Stop (A-Stop) command from an A-Stop Transmitter is received. The receivers also transmit to each other for redundancy.A-Stop Operation
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Single transmitter in operation (1) Autonomous machines with on-board A-Stop receiverIllustration 3 shows three Autonomous machines with on-board A-Stop receivers. The flashing light on the A-Stop remote indicates that an A-Stop has been activated. The large circle in the illustration is the range of the A-Stop remote. In the illustration, the three Autonomous machines that are in range of the A-Stop remote are stopped due to the A-Stop button that was pressed.
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Multiple transmitters in operation (1) Autonomous machines with on-board A-Stop receiverOnce an A-Stop event has occurred, any machines in the range of the remote transmitter will be stopped for as long as the remote is transmitting. A "Clear" signal will need to be sent before any of the machines affected will be able to resume normal operation. When more than one remote is activated at once, all remotes that sent an A-Stop command will need to send a "Clear" signal. Refer to Illustration 4 for an example of multiple transmitters in operation at once.Stopping
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When a truck receives an A-Stop stop signal, the truck immediately initiates a controlled stop. While the truck is in autonomous mode with A-Stop active, the autonomous mode and A-Stop lights will be flashing. Refer to Illustration 5 for an example.Clearing an A-Stop
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The truck identifies and records which transmitter or transmitters have initiated the A-Stop. The truck can only resume autonomous operation when an