Hardware and software architecture of intelligent vehicles and road verification in typical traffic scenarios

Intellectualisation is one of the three reforming technologies in automotive industry, which is now changing the mobility mode and human society. High safety and intelligence are the pre-requisites for putting self-driving vehicles into markets. This study presents the hardware and software architecture for intelligent vehicles, as well as their road verification in typical traffic scenarios. The hardware system includes environmental sensors, computing platforms, vehicle actuators, and vehicle platforms, which is able to provide redundant protection against the main controller failure. The software system includes environmental perception module, scene cognition module, decision and control module, human-computer interaction module and public service support module. To evaluate the performance of the developed architecture, the road tests of automated driving system were carried out in two typical traffic scenarios, including: (i) closed road test in Yuanboyuan region; (ii) open road test on Beijing-Tianjin highway. The real road test shows that the designed hardware and software systems for intelligent vehicles have desirable robustness, which can realise accurate and reliable environment perception, decision-making and motion control.