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

doi:10.1109/IVS.2018.8500474

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

School of Engineering

Research output: Chapter in Book/Conference paper › Conference paper

3 Citations (Scopus)

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	https://doi.org/10.1109/IVS.2018.8500474
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

Access to Document

10.1109/IVS.2018.8500474

Link to publication in Scopus

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Cite this

Lim, K. L., Drage, T., Podolski, R., Meyer-Lee, G., Evans-Thompson, S., Lin, J. Y. T., 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, pp. 1780-1785). [8500474] 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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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.",

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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 paper › Conference paper

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