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

Abstract : 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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https://hal.archives-ouvertes.fr/hal-00654059
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 20, 2011 - 5:22:20 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:07 AM

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Benoît Vanholme, Benoît Lusetti, Dominique Gruyer, Sébastien Glaser, Said Mammar. Highly automated driving on highways: system implementation on PC and automotive ECUs. Intelligent Transportation Systems Conference (ITSC 2011), Oct 2011, Washington DC, United States. pp.1465--1470, ⟨10.1109/ITSC.2011.6083143⟩. ⟨hal-00654059⟩

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