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19 April 2024 |
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Article overview
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Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving | | Tobias Kessler
; Julian Bernhard
; Martin Buechel
; Klemens Esterle
; Patrick Hart
; Daniel Malovetz
; Michael Truong Le
; Frederik Diehl
; Thomas Brunner
; Alois Knoll
; | | Date: |
8 May 2019 | | Abstract: | Although many research vehicle platforms for autonomous driving have been
built in the past, hardware design, source code and lessons learned have not
been made available for the next generation of demonstrators. This raises the
efforts for the research community to contribute results based on real-world
evaluations as engineering knowledge of building and maintaining a research
vehicle is lost. In this paper, we deliver an analysis of our approach to
transferring an open source driving stack to a research vehicle.
We put the hardware and software setup in context to other demonstrators and
explain the criteria that led to our chosen hardware and software design.
Specifically, we discuss the mapping of the Apollo driving stack to the system
layout of our research vehicle, fortuna, including communication with the
actuators by a controller running on a real-time hardware platform and the
integration of the sensor setup. With our collection of the lessons learned, we
encourage a faster setup of such systems by other research groups in the
future. | | Source: | arXiv, 1905.2980 | | Services: | Forum | Review | PDF | Favorites | |
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