Abstract
Sof tware frameworks for autonomous vehicles are required to interface and process data from several different sensors on board the vehicle, in addition to performing navigational processes such as path planning and lane keeping. These can include a combination of cameras, LIDARs, GPS, IMU, and odometric sensors to achieve positioning and localisation for the vehicle and can be challenging to integrate. In this paper, we present a unified sof tware framework that combines sensor and navigational processing for autonomous driving. Our framework is modular and scalable whereby the use of protocol buffers enables segregating each sensor and navigation subroutine individual classes, which can then be independently modified or tested. It is redesigned to replace the existing sof tware on our Formula SAE vehicle, which we use for testing autonomous driving. Our testing results verify the suitability of our framework to be used for fully autonomous drives.
Original language | English |
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Title of host publication | 2018 IEEE Intelligent Vehicles Symposium, IV 2018 |
Place of Publication | USA |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 1780-1785 |
Number of pages | 6 |
Volume | 2018-June |
ISBN (Electronic) | 9781538644522 |
DOIs | |
Publication status | Published - 18 Oct 2018 |
Event | 2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China Duration: 26 Sep 2018 → 30 Sep 2018 |
Conference
Conference | 2018 IEEE Intelligent Vehicles Symposium, IV 2018 |
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Country | China |
City | Changshu, Suzhou |
Period | 26/09/18 → 30/09/18 |