Towards a Functional System Architecture for Automated Vehicles

TL;DR

This paper proposes a generic functional system architecture for automated vehicles, integrating perception, planning, control, and communication, validated through a real-world project at Technische Universität Braunschweig.

Contribution

It introduces a comprehensive, implementation-independent architecture for automated vehicles, inspired by and validated against a real-world automated driving system.

Findings

Architecture covers perception, planning, control, and communication.

Validated with the Stadtpilot project at TU Braunschweig.

Provides a flexible framework for automated vehicle development.

Abstract

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.