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Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles. Updating Mechatronics of Automatic Cars

Abstract : Computer systems to carry out control algorithms on autonomous vehicles have been developed in recent years. However, the advances in peripheral devices allow connecting the actuator controllers to the control system by means of standard communication links (USB, CAN, Ethernet ... ).The goal is to permit the use of standard computers. In this paper, we present the evolution of AUTOPIA architecture and its modularity and adaptability to move the old system based on ISA controller cards to a new system with Ethernet and CAN connected controllers. The results show a comparison between both systems and the improved performance ofthe new system.
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https://hal.inria.fr/hal-00738072
Contributor : Joshué Pérez Rastelli <>
Submitted on : Wednesday, October 3, 2012 - 12:44:16 PM
Last modification on : Thursday, September 9, 2021 - 9:38:04 AM
Long-term archiving on: : Friday, January 4, 2013 - 3:57:48 AM

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  • HAL Id : hal-00738072, version 1

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Joshué Pérez Rastelli, Carlos González, Vicente Milanés, Enrique Onieva, Jorge Godoy, et al.. Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles. Updating Mechatronics of Automatic Cars. IEEE International Conference on Mechatronics, Apr 2009, Malaga, Spain. ⟨hal-00738072⟩

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