This paper presents a functional system architecture for an automated vehicle. It provides an overall, generic structure that is independent of a specific implementation of a particular vehicle project. Yet, it has been inspired and cross-checked with a real world automated driving implementation in the Stadtpilot project at the Technische Universit\"at Braunschweig. The architecture entails aspects like environment and self perception, planning and control, localization, map provision, Vehicle-To-X-communication, and interaction with human operators.
@article{arxiv.1703.08557,
title = {Towards a Functional System Architecture for Automated Vehicles},
author = {Simon Ulbrich and Andreas Reschka and Jens Rieken and Susanne Ernst and Gerrit Bagschik and Frank Dierkes and Marcus Nolte and Markus Maurer},
journal= {arXiv preprint arXiv:1703.08557},
year = {2017}
}
Comments
Submitted for review to IEEE Transactions on Intelligent Transportation Systems, 16 pages, 4 figures