Dual-modular architecture for developing and validation of decision and control modules for automated vehicles: Arquitectura dual-modular para desarrollos y validación de módulos de decisión y control en vehículos automatizados

In last decades, the advances done in the Advanced Driver Assistance System (ADAS) have improved multiple aspects in the vehicles, as: safety, system robustness, power efficiency, pedestrian detection and road lanes, assisted parking, navigation, etc. In the other hand, lateral control and generation of optimal trajectories in real time, are under development. In this work, we present a dual modular architecture. Its principal characteristics are the capacity of integrate and test new control algorithms, and the possibility of making tests with the simulation environment and the real platform (dual), reducing the development time. This architecture has been used to test different techniques for control and trajectory generation. Furthermore, the simulations have been done with a high level of precision comparing them with a real vehicle.