FUNCTIONAL SYSTEM ARCHITECTURES TOWARDS FULLY

AUTOMATED DRIVING
Ömer Şahin Taş, Florian Kuhnt, J. Marius Zöllner and Christoph Stiller
MOTIVATION
System architectures:
··Play a crucial role on the robust and reliable operation of
the vehicle
··Can coordinate the degradation between system modules
Review existing system architectures and propose research

INFORMATION TECHNOLOGY
directives for maintaining robust and reliable operation.

FEATURES OF ROBUST AND RELIABLE ARCHITECTURES

·· distributed architecture ·· feedback from the controller to the motion planning
·· system monitoring ·· separation of modules
·· ··

FZI RESEARCH CENTER FOR

recovery instructions graceful degradation of software functions
·· redundant and complementary types of sensors ·· deal with conflicting sensor and map information
·· consider the propagation of uncertain sensor information

FUNCTIONAL SAFETY CONCEPTS OF STATE OF THE ART AUTOMATED VEHICLES

BOSS (2007) A1 (2012)

·· Monitors the progress of the vehicle
and in case the mission is repeatedly
obstructed, issues recovery.
Urmson C., et. al. „Autonomous Driving in Urban Environments: Boss and the Urban Challenge“, 2008.
··
Very basic monitoring system
··
The system management module
ensures safe operation
K. Jo et. al. „Development of Autonomous Car - Part II: A case study on the implementation of an autonomous
driving system based on distributed architecture“, 2015.

SHELLEY (2012) CMU-CADILLAC SRX (2013)

·· Performs controlled stop in case of ··
Based on the architecture of ‘‘Boss”

··
logical inaccuracies
The monitoring system is separated
··
Evaluates controller performance inside
motion planner

http://images.hgmsites.net/hug/stanford-audi-tts-autonomous-pikes-peak-car-aka-shelley_100315127_h.jpg,
from other modules both in hardware
and in software
··
Cannot deal with conflicting perception
information http://gmauthority.com/blog/wp-content/uploads/2013/05/2014-Cadillac-SRX-720x340.jpg,
Date retrieved: June 15, 2016.
Date retrieved: June 15, 2016.

BERTHA (2013) DEEVA (2014)

·· Vision based localization ··
360° short and long range vision FOV
·· Robust against deterioration effects ··
360° LIDAR FOV
due to satellite occlusion and
multipath propagation
··
Cannot deal with conflicting information
Broggi A., et. al. „The Deeva autonomous vehicle platform“, 2015.

Ziegler J., et. al. „Making Bertha Drive - An Autonomous Journey on a Historic Route“, 2014.

ULM UNIVERSITY (2015) JACK (2015)

·· Covers its environment with at least
two different types of sensors.
··
Deals with the discrepancies in
perception and map
·· Uses a probabilistic centralized sensor
fusion system
··
Switches into degraded operation
modes, if needed
Kunz F., et. al. „Autonomous driving at Ulm University: A modular, robust, and sensor-independent fusion approach“, 2015.
http://auto-geil.de/wp-content/gallery/mit-dem-audia7-piloted-driving-concept-auf-der-autobahn-a9/
2015-pilotiertes-fahren-audi-a7-jack-autobahn-a9-08.jpg, Date retrieved: June 15, 2016.

FUTURE WORK
·· Integrate the existing solution approaches into a unified architecture.
·· Employ various metrics that quantify performance status and give feedback to the vehicle.
·· Use the feedback to adapt data processing into degraded operation modes.

Taş Ö.Ş. et. al. “A Robust and Reliable Functional System Architecture for Fully Automated Driving”,
in IEEE Proc. Intell. Trans. Sys. Conf., 2016 (under review).

YOUR FZI Research Center for Information Technology | Mobile Perception Systems
CONTACT
M.Sc. Ömer Şahin Taş |tas@fzi.de| +49 721 9654-262
More Information at www.fzi.de The research leading to these results has received
funding from the European Union under the
H2020 EU.2.1.1.7. ECSEL Programme, as part of
the RobustSENSE project, contract number 661933