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 |
|---|---|
| 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 |
|---|---|
| Country | China |
| City | Changshu, Suzhou |
| Period | 26/09/18 → 30/09/18 |
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A Modular Software Framework for Autonomous Vehicles. / Lim, Kai Li; Drage, Thomas; Podolski, Roman; Meyer-Lee, Gabriel; Evans-Thompson, Samuel; Lin, Jason Yao Tsu; Channon, Geoffrey; Poole, Mitchell; Bräunl, Thomas.
2018 IEEE Intelligent Vehicles Symposium, IV 2018. Vol. 2018-June USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. p. 1780-1785 8500474.Research output: Chapter in Book/Conference paper › Conference paper
TY - GEN
T1 - A Modular Software Framework for Autonomous Vehicles
AU - Lim, Kai Li
AU - Drage, Thomas
AU - Podolski, Roman
AU - Meyer-Lee, Gabriel
AU - Evans-Thompson, Samuel
AU - Lin, Jason Yao Tsu
AU - Channon, Geoffrey
AU - Poole, Mitchell
AU - Bräunl, Thomas
PY - 2018/10/18
Y1 - 2018/10/18
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85056782229&partnerID=8YFLogxK
U2 - 10.1109/IVS.2018.8500474
DO - 10.1109/IVS.2018.8500474
M3 - Conference paper
VL - 2018-June
SP - 1780
EP - 1785
BT - 2018 IEEE Intelligent Vehicles Symposium, IV 2018
PB - IEEE, Institute of Electrical and Electronics Engineers
CY - USA
ER -