System Design and Function Verification of An Extensible Autonomous Driving Platform

This paper presents a general design of an autonomous driving platform. Firstly, we design a physic architecture and three-bus power system to guarantee safety and power redundancy. The logical architecture of the platform is designed in five sub-functions. In most of the cases, planning and control function is the critical and universal function, where we use curvature and environmental perception information to calculate vehicle speed. We also apply feedforward-feedback controller with preview point method to calculate steering angle. In the end, we conduct field test and road test to verify the functionality of the platform. Different navigation methods are also compared in the tests.