Development and Validation of an Open Architecture for Autonomous Vehicle Control
Sprache des Titels:
Englisch
Original Buchtitel:
IEEE Intelligent Vehicles Symposium 2023
Original Kurzfassung:
Teams dedicated to research in the field of au-
tonomous vehicles can be found in many universities and research
centers, but they often face the challenge of finding a suitable
platform for their work. The primary reason for this challenge
is the inaccessibility and high cost of commercial autonomous
vehicles, leading researchers to rely on simulators.
This paper introduces a new software architecture designed to
automate vehicles, providing all the necessary capabilities of an
autonomous vehicle in a more cost-effective and efficient manner.
The architecture is designed to be modular, universal, and with
a public interface, making it easy to modify, adapt to any type
of vehicle, and accessible to any researcher.
The new software architecture has been implemented in two
platforms: a vehicle integrated with OpenPilot via ROS2 without
any external hardware, and a last-mile robot. A validation test
was conducted with volunteers to assess the reaction of passengers
while the car was driving autonomously. The results of this
implementation demonstrate the potential of this new software
architecture to provide a comprehensive and accessible platform
for the advancement of autonomous vehicle research.
Index Terms?ROS2, openpilot, ROSbridge, Autonomous ve-
hicle, Low Level Control
Forschungs-