COTS-Architecture with a Real-Time OS for a Self-Driving Miniature Vehicle
Paper in proceedings, 2013

The international competition 2007 DARPA Urban Challenge significantly fostered the research and development on intelligent vehicles. Recent prototypes from Google for instance are able to drive fully autonomously through the San Francisco bay area for more than 450,000km. Even if self-driving vehicles are not yet available for purchase for customers, technology spin-offs are increasingly finding their ways into today's vehicles as pedestrian collision warning system, automated parking, or adaptive cruise control with temporary lane following. Thus, the upcoming generation of software and computer engineers needs to be accordingly educated to be already familiar with the concepts and pitfalls of these complex systems. In this article, we describe the architecture of a self-driving miniature vehicle based solely on commercial-off-the-shelf (COTS) components for the hardware and the real-time operating system ChibiOS/RT for the software/hardware interface.

self-driving vehicle


real-time OS

software engineering


Christian Berger

University of Gothenburg

Md Abdullah Al Mamun

Chalmers, Computer Science and Engineering (Chalmers), Software Engineering (Chalmers)

Jörgen Hansson

Chalmers, Computer Science and Engineering (Chalmers), Software Engineering (Chalmers)

Proceedings of Workshop ASCoMS (Architecting Safety in Collaborative Mobile Systems) of the 32nd International Conference on Computer Safety, Reliability and Security


Areas of Advance

Information and Communication Technology


Driving Forces

Innovation and entrepreneurship

Subject Categories

Software Engineering

Learning and teaching

Pedagogical work

More information