Autonomous Vehicle Architecture
The system architecture has four major subsystems.
1. Sensor
2. Perception
3. Planning
4. Control
Sensor Subsystem
The first subsystem is the sensor subsystem, which consists of the hardware components that gather data about the environment.
This subsystem includes sensors mounted on the car :
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LIDAR
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RADAR
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CAMERAS
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GPS
Perception Subsystem
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The second subsystem, the perception subsystem, consists of software to process sensor data.
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Components in the perception subsystem combine sensor data into meaningful information.
Planning Subsystem
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The planning subsystem uses the output from perception for behavior planning and for both short and long range path planning
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​The major components of the planning subsystem components are
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​Route planning,
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Prediction
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Behavioral planning
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Path planning.
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.
Control Subsystem
Control subsystem ensures that the vehicle follows the path provided by the planning subsystem and sends control commands to the vehicle.