Section: New Results

Transposition of autonomous vehicle architecture

Participants : Raoul de Charette, Pablo Marin Plaza, Fawzi Nashashibi.

With the development of autonomous vehicles, many software and hardware architectures exist in the world to handle perception, control, decision, planning. Studies were conducted to see how an alien software architecture could be transposed to our Cycabs platforms. Lightweight Communications and Marshalling has been implemented on our platforms to communicate fully with the Carlos 3 architecture, allowing the alien software pipeline to control fully our vehicle. Results and studies include stability of the communication, impact on the control quality, and planning comparison.