Enabling Technologies and System Architectures for Autonomous Vehicles

The transition of the automotive sector towards autonomous mobility requires a sophisticated amalgamation of cutting-edge hardware, redundant software frameworks, and accurate mathematical modeling. This research examines the technologies that facilitate autonomy in passenger vehicles, highlighting the shift from distributed to centralized zonal systems. The core focus of this study is the development of a unified modeling framework that integrates Kinematic and Dynamic Bicycle Models. Kinematic models prove sufficient for operations at low speeds, while dynamic models are essential for maintaining stability at high speeds, where tire slip and lateral forces gain prominence. This research provides a comprehensive classification of existing designs and introduces a mathematical framework that facilitates transitions between modeling paradigms based on the vehicle's state. A detailed numerical calculus experiment is performed, simulating the transition from a low-speed urban turn to a high-speed interstate lane change. This illustrates the necessity for an integrated modeling approach to ensure safe autonomous navigation.