This paper presents the implementation of a highly automated driving system on automotive Electronic Control Units (ECUs). It integrates a perception component, which uses the combination of high-level sensors to map the environment, a co-pilot, which finds an optimal trajectory in this environment and a control component, which guides the vehicle on this trajectory. The cooperation between human and automation is managed by the driving Mode Selection and arbitration Unit (MSU) and Human-Machine Interface (HMI) components. The co-pilot and control components have been implemented on AUTOSAR-based ECUs, the other components in the RTMaps environment on a standard PC. It has been first been tested on the simulation tool SiVIC and was then transferred to a physical vehicle on test track.


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    Title :

    Highly automated driving on highways: System implementation on PC and automotive ECUs


    Contributors:
    Vanholme, B. (author) / Lusetti, B. (author) / Gruyer, D. (author) / Glaser, S. (author) / Mammar, S. (author)


    Publication date :

    2011-10-01


    Size :

    950717 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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