A Unified Approach For Autonomous Vehicle In A Smart City 2019-01-0493

As the technology in autonomous vehicle and smart city infrastructure is developing fast, the idea of smart city and automated driving has become a present and near future reality. Both Highway Chauffeur and low speed shuttle applications are tested recently in different research. Based on previous work and updated with recent developments, this paper proposes a unified approach for autonomus driving equipment and algorithms which can be implemented on different types of vehicles. This architecture is replicable and scalable in terms of perception, control and actuation. Different sensors and computers used for this unified approach are explained in the paper, as well as various automated driving functions that are built in the unified framework. Moreover, some of these automated driving functions were used as part of the evaluation of performance that should be observed within this concept of unification. Although this concept of unification and performance evaluation presented in this study uses only two vehicles to compare and demonstrate, it can be easily concluded that it allows acheiving the similar performance for possible third or more different vehicles. Simulations are done to illustrate how the unified approach is working in both of the vehicles. Evaluations are also made for verifying the feasibility of this architecture.