Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles

Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet…).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance of the new system.

[1]  Chen Tao,et al.  Study on navigation control method for CyberCar based on machine vision , 2007, ROBIO.

[2]  José Eugenio Naranjo,et al.  Crossroad Cooperative Driving Based on GPS and Wireless Communications , 2007, EUROCAST.

[3]  José Eugenio Naranjo,et al.  Cooperative Maneuver Study Between Autonomous Cars: Overtaking , 2007, EUROCAST.

[4]  S E Shladover,et al.  Automated vehicles for highway operations (automated highway systems) , 2005 .

[5]  Hiroshi Kawazoe,et al.  Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System , 2001 .

[6]  Ricardo García Rosa,et al.  First applications of the Orbex coprocessor: control of unmanned vehicles , 2000 .

[7]  J. Reviejo,et al.  Vehicle fuzzy driving based on DGPS and vision , 2001, Proceedings Joint 9th IFSA World Congress and 20th NAFIPS International Conference (Cat. No. 01TH8569).

[8]  Rodolfo E. Haber,et al.  Power-steering control architecture for automatic driving , 2005, IEEE Transactions on Intelligent Transportation Systems.

[9]  Vicente Milanés Montero,et al.  Autonomous vehicle based in cooperative GPS and inertial systems , 2008, Robotica.

[10]  Yoichi Hori,et al.  Future Vehicle driven by Electricity and Control , 2006 .

[11]  Ravindra P. Joshi,et al.  Vector Control: A New Control Technique for Latest Automotive Applications (EV) , 2008, 2008 First International Conference on Emerging Trends in Engineering and Technology.

[12]  José Eugenio Naranjo,et al.  ACC+Stop&go maneuvers with throttle and brake fuzzy control , 2006, IEEE Transactions on Intelligent Transportation Systems.