Distributed Object-based Architecture for Controlling Autonomous Vehicles

In autonomous vehicles control, there is a need to interconnect several electronic component units (ECUs) in a proper manner to allow the embedded computational system to perform its control task in an efficient and reliable way. Therefore, this paper presents an object-based communication architect...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 41; no. 2; pp. 6903 - 6908
Main Authors Silva, Ronaldo Ap, Rico, Julio E.N., Becker, Leandro B., Kelber, Christian
Format Journal Article
LanguageEnglish
Published 2008
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Summary:In autonomous vehicles control, there is a need to interconnect several electronic component units (ECUs) in a proper manner to allow the embedded computational system to perform its control task in an efficient and reliable way. Therefore, this paper presents an object-based communication architecture that provides an infrastructure to design such systems. The proposed architecture relies in the publisher/subscriber protocol, which is characterized by the uncoupling between its components, anonymous communication with content-based messages, and many-to-many communications. Our architecture is based in the concept of sentient-objects, which are reactive entities distributed across the network that normally represent elements from the problem-domain. This paper presents the architecture, as well as an application used for controlling an autonomous vehicle.
ISSN:1474-6670
DOI:10.3182/20080706-5-KR-1001.01170