Development of Autonomous Car-Part II: A Case Study on the Implementation of an Autonomous Driving System Based on Distributed Architecture

作者：Jo Kichun^*; Kim Junsoo; Kim Dongchul; Jang Chulhoon; Sunwoo Myoungho

来源：IEEE Transactions on Industrial Electronics, 2015, 62(8): 5119-5132.

DOI：10.1109/TIE.2015.2410258

• Autonomous car
• development process
• distributed system
• FlexRay
• system platform

Part I of this paper proposed a development process and a system platform for the development of autonomous cars based on a distributed system architecture. The proposed development methodology enabled the design and development of an autonomous car with benefits such as a reduction in computational complexity, fault-tolerant characteristics, and system modularity. In this paper (Part II), a case study of the proposed development methodology is addressed by showing the implementation process of an autonomous driving system. In order to describe the implementation process intuitively, core autonomous driving algorithms (localization, perception, planning, vehicle control, and system management) are briefly introduced and applied to the implementation of an autonomous driving system. We are able to examine the advantages of a distributed system architecture and the proposed development process by conducting a case study on the autonomous system implementation. The validity of the proposed methodology is proved through the autonomous car A1 that won the 2012 Autonomous Vehicle Competition in Korea with all missions completed.

• 出版日期2015-8