A Modular Software Framework for Autonomous Vehicles

Kai Li Lim, Thomas Drage, Roman Podolski, Gabriel Meyer-Lee, Samuel Evans-Thompson, Jason Yao Tsu Lin, Geoffrey Channon, Mitchell Poole, Thomas Bräunl

Research output: Chapter in Book/Conference paperConference paper

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 languageEnglish
Title of host publication2018 IEEE Intelligent Vehicles Symposium, IV 2018
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1780-1785
Number of pages6
Volume2018-June
ISBN (Electronic)9781538644522
DOIs
Publication statusPublished - 18 Oct 2018
Event2018 IEEE Intelligent Vehicles Symposium, IV 2018 - Changshu, Suzhou, China
Duration: 26 Sep 201830 Sep 2018

Conference

Conference2018 IEEE Intelligent Vehicles Symposium, IV 2018
CountryChina
CityChangshu, Suzhou
Period26/09/1830/09/18

Fingerprint

Autonomous Vehicles
Sensor
Software
Sensors
Testing
Subroutines
Path Planning
Motion planning
Positioning
Buffer
Global positioning system
Navigation
Camera
Cameras
Integrate
Verify
Network protocols
Framework
Processing

Cite this

Lim, K. L., Drage, T., Podolski, R., Meyer-Lee, G., Evans-Thompson, S., Lin, J. Y. T., ... Bräunl, T. (2018). A Modular Software Framework for Autonomous Vehicles. In 2018 IEEE Intelligent Vehicles Symposium, IV 2018 (Vol. 2018-June, pp. 1780-1785). [8500474] USA: IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IVS.2018.8500474
Lim, Kai Li ; Drage, Thomas ; Podolski, Roman ; Meyer-Lee, Gabriel ; Evans-Thompson, Samuel ; Lin, Jason Yao Tsu ; Channon, Geoffrey ; Poole, Mitchell ; Bräunl, Thomas. / A Modular Software Framework for Autonomous Vehicles. 2018 IEEE Intelligent Vehicles Symposium, IV 2018. Vol. 2018-June USA : IEEE, Institute of Electrical and Electronics Engineers, 2018. pp. 1780-1785
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Lim, KL, Drage, T, Podolski, R, Meyer-Lee, G, Evans-Thompson, S, Lin, JYT, Channon, G, Poole, M & Bräunl, T 2018, A Modular Software Framework for Autonomous Vehicles. in 2018 IEEE Intelligent Vehicles Symposium, IV 2018. vol. 2018-June, 8500474, IEEE, Institute of Electrical and Electronics Engineers, USA, pp. 1780-1785, 2018 IEEE Intelligent Vehicles Symposium, IV 2018, Changshu, Suzhou, China, 26/09/18. https://doi.org/10.1109/IVS.2018.8500474

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 paperConference paper

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Lim KL, Drage T, Podolski R, Meyer-Lee G, Evans-Thompson S, Lin JYT et al. A Modular Software Framework for Autonomous Vehicles. In 2018 IEEE Intelligent Vehicles Symposium, IV 2018. Vol. 2018-June. USA: IEEE, Institute of Electrical and Electronics Engineers. 2018. p. 1780-1785. 8500474 https://doi.org/10.1109/IVS.2018.8500474