The functional system architecture of an automated vehicle plays a crucial role in the performance of the vehicle. When considered as a backbone, it does not only transmit information between distinct layers, but rather serves as a feedback mechanism coordinating the degradation between them and thereby regulates the behavior of the system against failures. Hence, the design of robust functional architectures is essential to cope with the uncertainties of the world. This paper summarizes existing system architectures and investigates them regarding their robustness against measurement inaccuracies, failures, and unexpected evolution of traffic situations. After illustrating their strengths and deficiencies, we derive the requirements and propose a structure for future, robust system architectures.
['Omer Sahin Tas', 'Florian Kuhnt', 'J. Marius Zollner', 'Christoph Stiller']
Functional system architectures towards fully automated driving