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

Benoît Vanholme (1) , Benoît Lusetti (1) , Dominique Gruyer (1) , Sébastien Glaser (1) , Said Mammar (2)

1 LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Keywords: Driver Assistance Systems; Hardware in the Loop Simulation; Motion Planning in Dynamic Environments

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⟩