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Antonis, thank you for organizing this.

Reposting my questions sent via email:

  • How much filtering/control should occur at the vehicle interface level?
  • How much command/control validation should occur at this level?
  • What is the most appropriate command representation i.e. for throttle/steer angle: Acceleration? Jerk? Wheel angle? Wheel angle rate?
  • What is the best way to unambiguously represent commands for independently actuated wheels (i.e. individual wheel angles, accelerations/forces)? How can this unambiguously map to simpler platforms? (i.e. 2/1 independent actuations)
  • Is it reasonable to assume at most 4 wheels in the vehicle for the purpose of control?
  • How can we report vehicle load, etc. (i.e. inferring that there is a trailer, headwind, incline/decline etc.)?
  • Does the proposed architecture and separation of concerns make sense?
  • Does it make sense for the vehicle interface to be the arbiter of vehicle parameters (i.e. tire gradients, wheelbase length, CoG, etc.)? If so, what is the most appropriate way to represent and communicate this?