SOFTWARE GP-MACHINE 2785286 - Caterpillar

On Board Network Components
Illustration 1 g03222617
The autonomous truck system has two on-board wired ethernet local area networks (LANs). These two LAN systems, ethernet 1 and ethernet 2, are similar to other LAN systems. The LANs provide communication within the autonomous system. Ethernet 1, also connects to a router and radio for outside communications and uses special software to perform network monitoring of the truck by the office site management system.Ethernet 1, connects the radio and router to the five autonomous control modules (ACMs), the MCM, and truck VIMS main module. This LAN uses three ethernet switches, two located in the autonomous cabinet and one located in the cab. This network can be accessed through two service ports, one located in the cab and the second at ground level at the front bumper.Ethernet 2, is devoted to communication between the long range object detection sensor 1 and 5 ACMs with communication switching performed using one ethernet switch.The devices that provide networking capability are the radio and router for outside communication with the office site management system and the four ethernet switches for both LAN systems.Radio
The radio, located in the autonomous cabinet, is the access point to the network. The radio provides two way wireless network communications with the Cat MineStar System office. The radio antennas are mounted on either side of the truck to the outside of the mode lights. These antennas should be unobstructed and the reflectors should be located on the inside (truck side) of the antenna.Router
The router, located in the autonomous cabinet, communicates between the Cat MineStar System office software and the ACMs. The router uses the radio to access the wireless LAN and the ethernet 1 LAN to access the ACMs. The router contains the IP address unique to the truck.The harness connectors at the router and each ACM have special cables with M12 connectors for ethernet switch connections.Switches
The autonomous system uses four ethernet switches, with three located in the autonomous cabinet and one in the cab. These devices connect and route communications within the two LANs.Network Monitoring
Autonomous truck network monitoring is accomplished through use of network availability management (NAM) software loaded on the autonomous system. NAM software is used to monitor the wireless network between the truck and the Cat MineStar System office.The autonomous truck sends position report 2 (PR2) messages directly to Cat MineStar System. The PR2 messages include position, heading, and velocity information.Cat MineStar System receives and processes the PR2 messages. The system then sends out all machine position (AMP) messages. The AMP messages include position, heading, and velocity and message age information about every autonomous and manned vehicle in the autonomous operation area.Autonomous trucks use this information to slow down, follow, and avoid other vehicles even before the other vehicles are detected by the truck object detection system.