Controller Architecture for the Autonomous Cars: MadeInGermany and e-Instein
Daniel Goehring – 2012
In this paper a realtime controller architecture for our autonomous cars, a highly equipped conventional car and an electric vehicle is presented. The key aspects for controlling a car are stability, accuracy and smoothness, which constrain design critereas of all kinds on controller components. This report presents solutions for a variety of controller components, and aspects of a controller implementation of an autonomous car. The algorithms described proved their applicability in dense urban Berlin traffic as well as on the Berlin Autobahn.