  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.
