Title: An embedded software architecture for the development of a cooperative autonomous vehicle

Authors: Olmer Garcia-Bedoya; Janito Vaqueiro Ferreira

Addresses: Faculty of Natural Sciences and Engineering, Universidad Jorge Tadeo Lozano, Bogota, Colombia; Faculty of Mechanical Engineering, UNICAMP University, Campinas, Brazil ' Faculty of Mechanical Engineering, UNICAMP University, Campinas, Brazil

Abstract: Autonomous vehicles will be a reality in the next decade, transforming mobility, turning vehicles into software-driven products. This article presents the hardware and software architecture of the embedded systems of an autonomous vehicle developed in the Autonomous Mobility Laboratory at UNICAMP. This vehicle aims to enable the testing of cooperative strategies between the driver and the automated system. The proposal has been tested, allowing the integration of an automotive embedded system's reliability with the flexibility and capacity of distributed Linux and robotic operating system (ROS) based on PC-based computing systems. The article's main contribution is to include discussing how the automation and real-time systems should cooperate with the driver, which is an essential step for level 3 of SAE (J3016) automation of the vehicles.

Keywords: robotic operating system; ROS; automotive systems; cooperative control; embedded systems; autonomous vehicles.

DOI: 10.1504/IJES.2022.123299

International Journal of Embedded Systems, 2022 Vol.15 No.2, pp.83 - 92

Received: 23 Nov 2020
Accepted: 20 Jun 2021

Published online: 08 Jun 2022 *

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