Modularity, adaptability and evolution in the AUTOPIA architecture for control of autonomous vehicles

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 of the new system.