Architecture of the Computer-Aided Design Toolchain for the Highly-Automated Vehicles

The paper describes architectural solutions of the computer-aided design (CAD) toolchain for highly automated vehicles (HAV) aimed at accelerating the design process, mass education in the field of self-driving technologies, and creation of digital twins. The proposed solution is seen as an alternative to existing urban-oriented frameworks and expands the potential applications of HAV in agricultural and rugged terrain. The system offers a modular architecture that provides flexibility and scalability to adapt to different environments, making it a tool not only for professional applications in engineering centers but also for educational purposes, including online competitions and stimulating the learning of unmanned driving technologies. The paper also describes an extensible finite state machine for HAV, which allows the control system to be adapted to use several application problems, map editor for applied tasks and tools for coordinate transformations. An example of the implementation of a state machine for a HAV moving over rough terrain is considered. Software implemented in the Webots simulation environment with ROS2 framework.