Functional Model of a Self-Driving Car Control System

Abstract

The article describes a structural and functional model of a self-driving car control system, which generates a wide class of mathematical problems. Currently, control systems for self-driving cars are considered at several levels of abstraction and implementation: Mechanics, electronics, perception, scene recognition, control, security, integration of all subsystems into a solid system. Modern research often considers particular problems to be solved for each of the levels separately. In this paper, a parameterized model of the integration of individual components into a complex control system for a self-driving car is considered. Such a model simplifies the design and development of self-driving control systems with configurable automation tools, taking into account the specifics of the solving problem. The parameterized model can be used for CAD design in the field of self-driving car development. A full cycle of development of a control system for a self-driving truck was implemented, which was rub in the “Robocross 2021” competition. The software solution was tested on more than 40 launches of a self-driving truck. Parameterization made it possible to speed up the development of the control system, expressed in man-hours, by 1.5 times compared to the experience of the authors of the article who participated in the same competition in 2018 and 2019. The proposed parameterization was used in the development of individual CAD elements described in this article. Additionally, the implementation of specific modules and functions is a field for experimental research.

Approach of Trajectory Generation Based on Waypoint Information for a Highly Automated Vehicle

“…Authors describe in this article developed models and tools for software control of vehicle systems based on the modification of the UAZ Patriot vehicle [8].…”

“…Engineers must understand the criteria for deciding in that situation. End-to-end solutions also cannot be widely used because of the low performance of the computing modules used on a vehicle board [11].…”

“…The classical approach to the design of HAV involves the creation of models, methods, and programs based on the management of data flows during the control cycle. So, it is necessary to develop and use models for processing data generated by sensors at each stage of processing [11].…”

“…Waypoints can be got in several ways. First, they are specified manually in specialized trajectory map editors for HAV [11,12]. Second, they can be generated automatically by path planning algorithms based on the task features and information about the environment, for example, using Q-learning algorithms [13], RRT algorithms [14], or their modifications [15][16][17][18].…”

Reliability Analysis of the Functional Capabilities of an Autonomous Vehicle

“…The perception system-the vehicle should always know how to identify its environment, and the cognition system for decision-making, such as what the AV should do and how it should do it. Sviatov et al (2021) described a structural and functional model of an autonomous vehicle control system, intending to generate several mathematical problems. Their study identified the control system of an autonomous vehicle as a functional requirement.…”