Architectures for autonomous vehicles

Connected and Autonomous Vehicle. Technologies, Challenges and Deployment

Figure 1 - Example of an obstacle avoidance scenario

Figure 2 - A simple model of the driving task: the perception-analysis-decision-action loop

Figure 3 - Local and extended perception

Figure 4 - Generic and simplified architecture of the C-ITS station (from [5])

Figure 5 - Projection of a point in the frame marks of two cameras

Figure 6 - The three axes of vehicle motion (from [18])

Figure 7 - A 3-degree-of-freedom bicycle model (after [19])

Figure 8 - Diagram of a trajectory planner (after [21])

Figure 9 - Decomposition into adjacent cells (from [22])

Figure 10 - Conceptual view of a dynamic local map

Figure 11 - Tree-based description of a vehicle platform (from [31])

Figure 12 - Simplified functional architecture and its mapping onto the physical architecture (rectangles with rounded corners).

Figure 13 - Physical architecture

Figure 14 - Functional architecture for the autonomous vehicle (from [31])

Figure 15 - Functional architecture based on vehicle-infrastructure cooperation (from [34])

Figure 16 - The different contexts in which autonomous vehicles evolve (according to [36])

Figure 17 - Progressive deployment plan for autonomous vehicles (from [35])

Figure 18 - ULtra PRT vehicle on a test track (source Wikipedia)

Figure 19 - French innovation support calendar