This paper is on the automated driving architecture and operation of a light commercial vehicle. Simple longitudinal and lateral dynamic models of the vehicle and a more detailed CarSim model are developed and used in simulations and controller design and evaluation. Experimental validation is used to make sure that the models used represent the actual response of the vehicle as closely as possible. The vehicle is made drive-by-wire by interfacing with the existing throttle-by-wire, by adding an active vacuum booster for brake-by-wire and by adding a steering actuator for steer-by-wire operation. Vehicle localization is achieved by using a GPS sensor integrated with six axes IMU with a built-in INS algorithm and a digital compass for heading information. Front looking radar, lidar and camera are used for environmental sensing. Communication with the road infrastructure and other vehicles is made possible by a vehicle to vehicle communication modem. A dedicated computer under real time Linux is used to collect, process and distribute sensor information. A dSPACE MicroAutoBox is used for drive-by-wire controls. CACC based longitudinal control and path tracking of a map of GPS waypoints are used to present the operation of this automated driving vehicle.

翻译：本文研究轻型商用车的自动驾驶架构与操作。建立了车辆的简单纵向和横向动力学模型及更详细的CarSim模型，并将其用于仿真、控制器设计与评估。通过实验验证确保所用模型尽可能真实地反映车辆的实际响应。通过接口连接现有的线控油门、增加用于线控制动的主动式真空助力器以及增加用于线控转向的转向执行器，实现了车辆的线控驱动。车辆定位通过集成六轴惯性测量单元（内置惯性导航系统算法）的GPS传感器与用于航向信息的数字罗盘实现。采用前视雷达、激光雷达和摄像头进行环境感知。通过车车通信调制解调器实现与道路基础设施及其他车辆的通信。一台运行实时Linux系统的专用计算机用于收集、处理和分发传感器信息。采用dSPACE MicroAutoBox进行线控驱动控制。基于协同自适应巡航控制（CACC）的纵向控制与GPS路径点地图的路径跟踪被用于展示该自动驾驶车辆的操作性能。