Fast prototyping of a Highly Autonomous Cooperative Driving System for public roads

This paper presents a framework for a fast prototyping of Advanced Driving Assistance Systems (ADAS). The simulation tool SiVIC is proposed for drastically reducing development time and costs of a vehicle system design. ^RTMaps^® is used as a platform for easily encapsulating the system component algorithms and for effortlessly transferring them from a simulation environment to a physical vehicle. With these tools a Highly Autonomous Cooperative Driving System (HACS) has been designed. A perception component uses a combination of sensors to map the environment. In this paper a cooperative, extended perception with infrastructure-to-vehicle communication (I2V) will be proposed. A co-pilot integrates a fast Total Trajectory Exploration (TTE) method that finds a trajectory that is optimal with respect to the sensed environment. A simple controller on the vehicle actuators is used for guiding the vehicle on this trajectory. The cooperation between human and automation is managed by a Driving Mode Selection Unit (MSU) and a Human Machine Interface (HMI). In this paper a vehicle system which allows highly autonomous driving with human cooperation is called a co-system.