1. Nicole Chan Eric Westman
Team
Optimal Prime
Nicole Chan
Eric Westman

2. Objectives
Simplify and improve the design process of vehicle controllers for CATVehicle
Send and receive JAUS messages from MATLAB / Simulink
Develop compatible code execution for Simulink / JAUS
SimEvents
Optimize existing steering controllers for autonomous vehicles

3. Novelty
Simulink controlled, JAUS-based vehicle has not been done before
Incorporate FSM or other intelligence into optimizing controller

4. Importance
Simulink / JAUS integration allows for advance control algorithms and math
Intelligent optimizing controller new to passenger comfort controller

5. Checks
Can we successfully communicate between Simulink and OpenJAUS NodeManager?
Can we use JAUS-based simulator with Simulink based controllers?
Can we operate the CATVehicle with Simulink controllers as well as it operates with JAUS controllers?
Does the optimizer successfully reduce jitter in steering?
Does our intelligence improve the functionality of the optimizer?

6. Sequence diagram Vehicle subsystem JAUS Component Simulink blocks
Level 2 s-function (interface)
Communicator
1: JAUS message
2: JAUS message
3: Processed message
4: Simulink signal
5: Simulink signal
6: JAUS message
7: JAUS message

7. JAUS Component
Level 2 S-Function
MATLAB S-Function/
Simulink Controller
Communicator rx tx

8. General block diagram Car Velocity Controller (Comfort Controller)
Sensors
Steering Controller (Hoffman)
Velocity Controller (Comfort Controller)

9. New block diagram Car Sensors Steering Controller (Hoffman)
Velocity Controller (Comfort Controller)
Optimizer

10. Controllers to optimize
Passenger comfort
Hoffman controller

11. Questions?