期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 62, 期 8, 页码 5119-5132出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2015.2410258
关键词
Autonomous car; development process; distributed system; FlexRay; system platform
资金
- National Research Fund Grant - Korean government (Ministry of Education, Science, and Technology) [2011-0017495]
- Korean Ministry of Knowledge Economy through the Industrial Strategy Technology Development Program [10039673]
- Korean Ministry of Education through the Brain Korea 21 (BK21) Plus Program [22A20130000045]
- Korea Evaluation Institute of Industrial Technology (KEIT) [공동기술-2011-200, 10039673] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
- National Research Foundation of Korea [22A20130000045, 2011-0017495] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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.
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