This paper describes an embedded architecture designed for the "Navigation Aided Intelligent Cruise Control" (NAICC) project and more generally for the development of driver assistance systems. An original CAN bits based hardware architecture is presented. This approach allows the easy integration of numerous heterogeneous components and the management of a great part of the complexity inherited from this diversity. On the other hand, the corresponding software architecture is proposed. It is based on "Computer Aided Control System Design'' and high level Object Oriented concepts in order to integrate and make all the conception stages of an embedded system easier. An original localisation-based bending light system is presented in order to illustrate the implementation facilities obtained with the proposed approach.
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