A case study for modeling autonomous driving systems

The paper proposes a methodology for developing a level 2 autonomous prototype car. For this purpose, the modeling and simulations are done using the Automated Driving Toolbox available in Matlab. The chosen case study considers that the ego car first drives manually through an imposed environment, gathering useful information based on its attached sensors. A map of the environment is thus obtained using the received data. The second stage consists in generating an optimal path between two predefined points, followed by the final phase when the ego car self-drives through the environment. The method was tested on a prototype car built using a Robot Car Kit, an Arduino board and a Raspberry PI.