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Connected and automated driving vehicles have become a present and near future reality. There are already a slowly increasing number of trucks that do autonomous test drives on highways. Level 3 Highway Chauffeur applications are expected to be on the market as early as 2020 and Level 4 Highway Pilot applications are expected to be available around 2025. There is also a drive towards smarter cities with smarter mobility choices that include the use of smaller, lower speed automated driving vehicles. This paper proposes a unified basic computing, sensing, communication and actuation architecture and scalable and replicable automated driving control systems built upon that architecture. A passenger sedan and a small electric vehicle are used to illustrate the application of the proposed unified architecture to these two different sized vehicles. Their automation along with a scalable control algorithm for path following are used for presenting the scalability and replicability of the unified architecture proposed in this paper. 

This paper is on a pedestrian collision warning and avoidance system for road vehicles based on V2X communication. In cases where the presence and location of a pedestrian or group of pedestrians cannot be determined using line-of-sight sensors like camera, radar and lidar, signals from pedestrians' smartphone apps are used to detect and localize them relative to the road vehicle through the DSRC radio used for V2X communication. A hardware-in-the-loop setup using a validated automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic is used along with two DSRC modems emulating the vehicle and pedestrian communications in the development and initial experimental testing of this method. The vehicle either stops or, if possible, goes around the pedestrians in a socially acceptable manner. The elastic band method is used to locally modify the vehicle trajectory in real time when pedestrians are detected on the nearby path of the vehicle. The effectiveness of the proposed method is demonstrated using hardware-in-the-loop simulations. 

This paper is on low speed connected and automated driving shuttles in a smart city. Based on examples available in the literature and the past experience of the authors, this paper proposes the use of a unified computing, sensing, communication and actuation architecture for connected and automated driving. It is postulated that this unified architecture will also lead to a scalable and replicable approach. Two vehicles representing a passenger car and a small electric shuttle for smart mobility in a smart city are chosen as the two examples for demonstrating scalability and replicability. For this purpose, the architecture in the passenger car is transferred to the small electric vehicle and used in its automation. The parametric control design approach that we are using to achieve scalable automated driving controllers is presented in the paper along with a discussion of how to evaluate performance and a brief description of the planned proof-of-concept test deployment.