Software Architecture for Autonomous Vehicles using MATLAB Simulink

<div class="section abstract"><div class="htmlview paragraph">Autonomous vehicles utilise sensors, control systems and machine learning to independently navigate and operate through their surroundings, offering improved road safety, traffic management and enhanced mobility. This paper details the development, software architecture and simulation of control algorithms for key functionalities in a model that approaches Level 2 autonomy, utilising MATLAB Simulink and IPG CarMaker. The focus is on four critical areas: Autonomous Emergency Braking (AEB), Adaptive Cruise Control (ACC), Lane Detection (LD) and Traffic Object Detection. Also, the integration of low-level PID controllers for precise steering, braking and throttle actuation, ensures smooth and responsive vehicle behaviour. The hardware architecture is built around the Nvidia Jetson Nano and multiple Arduino Nano microcontrollers, each responsible for controlling specific actuators within the drive-by-wire system, which includes the steering, brake and throttle actuators. Communication between these components is facilitated through the CAN protocol, which ensures accurate and reliable data transfer essential for real-time decision-making. AEB achieves precise emergency braking and enhances driver comfort through the use of PID controllers, while ACC leverages radar data to maintain a safe distance from the vehicle ahead. LD employs the Hough Transform algorithm for accurate road edge detection. Furthermore, a trained neural network within the system identifies and responds to traffic signals, signage, pedestrians and vehicles. The camera interfaces directly with the Jetson Nano, while radar data is shared with the IMU through a dedicated CAN bus. This integrated approach represents a significant advancement in autonomous vehicle control, thus contributing to enhanced safety, comfort and reliability for both drivers and passengers. This software architecture is designed based on aBaja 2024 competition and according to its rules, regulations, requirements and specifications, the controllers and simulations were designed.</div></div>