Architecting autonomous automotive systems: with an emphasis on cooperative driving

The increasing usage of electronics and software in a modern automobile enables realization of many advanced features. One such feature is autonomous driving. Autonomous driving means that a human driver’s intervention is not required to drive the automobile; rather, the automobile is capable of driving itself. Achieving automobile autonomy requires research in several areas, one of which is the area of automotive electrical/electronics (E/E) architectures. These architectures deal with the design of the computer hardware and software present inside various subsystems of the vehicle, with particular attention to their interaction and modularization. The aim of this thesis is to investigate how automotive E/E architectures should be designed so that 1) it is possible to realize autonomous features and 2) a smooth transition can be made from existing E/E architectures, which have no explicit support for autonomy, to future E/E architectures that are explicitly designed for autonomy. The thesis begins its investigation by considering the specific problem of creating autonomous behavior under cooperative driving conditions. Cooperative driving conditions are those where continuous wireless communication exists between a vehicle and its surroundings, which consist of the local road infrastructure as well as the other vehicles in the vicinity. In this work, we define an original reference architecture for cooperative driving. The reference architecture demonstrates how a subsystem with specific autonomy features can be plugged into an existing E/E architecture, in order to realize autonomous driving capabilities. Two salient features of the reference architecture are that it is minimally invasive and that it does not dictate specific implementation technologies. The reference architecture has been instantiated on two separate occasions and is the main contribution of this thesis. Another contribution of this thesis is a novel approach to the design of general, autonomous, embedded systems architectures. The approach introduces an artificial consciousness within the architecture, that understands the overall purpose of the system and also how the different existing subsystems should work together in order to meet that purpose. This approach can enable progressive autonomy in existing embedded systems architectures, over successive design iterations.

Language

  • English

Media Info

  • Pagination: 78
  • Serial:
    • TRITA-MMK
    • Issue Number: 2013:06
    • Publisher: KTH Royal Institute of Technology, Sweden
    • ISSN: 1400-1179

Subject/Index Terms

Filing Info

  • Accession Number: 01575430
  • Record Type: Publication
  • Source Agency: Swedish National Road and Transport Research Institute (VTI)
  • ISBN: 9789175017129
  • Files: ITRD, VTI
  • Created Date: Sep 1 2015 11:22AM