Towards a Robust Traffic Scene Representation in Cooperative Connected Automated Mobility

The relevance of methodologies able to exchange data between software modules in charge of controlling an autonomous vehicle have been increasing accordingly to the interests in the industry. The information managed by these systems needs to be represented in such a way the autonomous vehicle is able to produce safe behaviours as well as reliable control outputs when deployed in real-world environments. The efforts to define these data structures entail the first step in the path towards a fully autonomous platform. In this work, a representation of this nature is proposed, together with the flow of information of a layered modular software architecture which aims to operate an autonomous vehicle from low level actuators to high level behaviours.