Low Velocity Maneuvering Development with the MathWorks Toolchain

The last hundred meters of an autonomous drive entail unique challenges. There is variability in direction as the vehicle may drive in reverse or perform three-point turns. There are often no road markings, no GPS signal, and no map. This is where a self-driving car is at its most autonomous. The problem statement of the Low Velocity Maneuvering (LVM) team at General Motors is to drive the vehicle in a GPS denied environment with high accuracy, in a variety of parking scenarios such as street parking, valet parking, and learned parking. In this talk we review our LVM development cycle, starting from the architecture management, model-based development, requirements and testing coverage, MIL/SIL/HIL simulations, and code generation for multiple platforms.