We developed an entire automated vehicle platform for software prototyping and demonstration. The platform is based on a serial production car, add-on sensors, and a control system based on embedded HW. We validated and demonstrated it by driving a slalom between traffic cones while automatically steering and accelerating.

The base of the system is the Porsche Panamera car. The car is instrumented such that our perception/planning/control system communicates with the car ECUs via CAN and FlexRay buses. An optimization algorithm for trajectory planning represents an original component of the system. The system sends steering and speed commands to the actuation-related Electronic Control Units (ECUs) and reads signals from internal car sensors, such as the odometry. In addition to the internal sensors, we equipped the car with an external monocular camera, LiDAR, and a differential GPS.

The partner of CTU was Porsche Engineering.