Athena (Athena) autonomous driving software system

Athena (Athena) is an open, lightweight, flexible and highly reliable automatic driving software platform launched by Universal Smart, serving the application development of OEM and autonomous driving companies. Athena is based on Linux system development, including high-precision maps, positioning, and navigation , Perception fusion, decision planning, vertical and horizontal control, simulation platform and mobile device interactive terminal and other modules, supporting complete bicycle automatic driving functions (lane keeping, station parking, following driving, lane change obstacle avoidance, emergency braking, etc.); At the same time, it also has a network-connected automatic driving function, which can provide modules such as cloud computing, roadside perception, and background management. It supports functions such as one-click car calling, one-key car return, and network-connected fleet. The Athena automatic driving software system has the characteristics of light weight and embeddability. It can run on the Titan hardware autonomous driving domain controller (power consumption does not exceed 60 watts), an embedded hardware platform independently developed by Universal Smart. Athena supports the evolution from L2 to L4, which is also the evolution from traditional ADAS functions to scenario-based autonomous driving.

1. Function Overview

Athena is a real-time Linux-based L4 automatic driving software system, including deep learning fusion perception, fusion positioning, complex environment decision planning algorithm, and accurate and reliable control algorithm, etc. Titan automatic driving domain controller, power consumption does not exceed 60 watts, provides real-time three-dimensional fusion perception and positioning for autonomous driving, complex scenario decision planning, vehicle-road cooperative communication, and supports different forms of autonomous driving of bicycles, fleets and vehicle-road cooperation Features.

Main functions of the software package

Second, the software architecture

Athena software provides three main parts: algorithm, data set, and test simulation. The algorithm software package supports visual perception, fusion positioning, decision planning and control algorithm. The algorithm has been optimized and tested in detail and can be run on Titan3 in real time. In addition, the software package provides related data sets, sample maps and simulation tools. Huanyu can provide Titan controller and wire-controlled vehicle platform in addition to the software package to facilitate customers' testing and commercial deployment.

Software package architecture

Athena provides the basic implementation of each module of autonomous driving, and the message flow of each module is transmitted through the lightweight UDP protocol LCM. The blue modules are the functions already implemented by Huanyu Zhixing, and the orange parts are the resources that need to be relied on. The entire architecture also takes into account the requirements of intelligent network applications, high-precision maps, intersection management, and global path planning to deliver corresponding information through the network side, in order to deploy related applications in the cloud and road side in the future.

Software message flow

Three, function list

Table 1. System functions

Table 2. Module functions