Abstract
In the development of Level 4 automated driving functions, very specific, but diverse, requirements with respect to the operational design domain have to be considered. In order to accelerate this development, it is advantageous to combine dedicated state-of-the-art software components, as building blocks in modular automated driving function architectures, instead of developing special solutions from scratch. However, e.g., in local motion planning and control, the combination of components is still limited in practice, due to necessary interface alignments, which might yield sub-optimal solutions and additional development overhead. The application of generic interfaces, which manage the data transfer between the software components, has the potential to avoid these drawbacks and hence, to further boost this development approach. This publication contributes such a generic interface concept between the local path planning and path tracking systems. The crucial point is a generalization of the lateral tracking error computation, based on an introduced error classification. It substantiates the integration of an internal reference path representation into the interface, to resolve the component interdependencies. The resulting, proposed interface enables arbitrary combinations of components from a comprehensive set of state-of-the-art path planning and tracking algorithms. Two interface implementations are finally applied in an exemplary automated driving function assembly task.
Highlights
Automated driving (AD) has been a huge challenge over the last decades in research as well as in industry
Level 4 autonomous driving requires AD-functions, which are carefully matched to the specific operational design domain (ODD)
The scientific state-of-the-art provides a tremendous amount of dedicated algorithms, which may be applicable for specific tasks of an AD-function in different ODDs
Summary
Automated driving (AD) has been a huge challenge over the last decades in research as well as in industry. Equivalent components solve the same task on a qualitative level, they diverge in their specific input/output data requirements This fact complicates ODD-based AD function assembly, yielding potential performance interdependencies between the components. The application of dedicated interface components supports a middelware independent component development and reduces later integration risk in combination with different middleware concepts The design of such an interface has to handle manifold requirements of state-of-theart components. This proposed classification enables a generalized approach in tracking error computation (see Section 4), based on a concise set of three elementary path operations This set is sufficient to cover a comprehensive set ot state-of-the-art path tracking controllers. Appendixs A and B provide continuative theoretical basics on path parametrization and interpolation
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