Autonomous vehicle application experience reused via subtask level command set i.e. motion control language

Practical tasks of autonomous vehicles are usually described easily with (sub)task level commands including descriptive information on the environment. We instruct a stranger to move in our area in the same manner we wish to (i.e. it is natural to) give commands to an autonomous vehicle. As application oriented sensing, steering and control methods have been developed they can usually be adopted also in other applications with different vehicles and scales. This is a conclusion of work done during the last fifteen years and about dozen industrial applications. The work of an application engineer is supported by the method of keeping vehicle geometry and kinematics separated from path tracking and motion control. A command language called MCLMR does this for autonomous vehicles. It is an interface between sensor and actuator language of the vehicle and high level supervisory control of the autonomous vehicle.