Autoware Toolbox: MATLAB/Simulink Benchmark Suite for ROS-based Self-driving Software Platform

被引：12

作者：

Miura, Keita ^{[1
]}

Tokunaga, Shota ^{[2
]}

Ota, Noriyuki ^{[3
]}

Tange, Yoshiharu ^{[3
]}

Azumi, Takuya ^{[1
]}

机构：

[1] Saitama Univ, Saitama, Japan

[2] Osaka Univ, Suita, Osaka, Japan

[3] NEXTY Elect Corp, Tokyo, Japan

来源：

PROCEEDINGS OF THE 30TH INTERNATIONAL WORKSHOP ON RAPID SYSTEM PROTOTYPING (RSP'19): SHORTENING THE PATH FROM SPECIFICATION TO PROTOTYPE | 2019年

关键词：

Self-driving System; MATLAB/Simulink; Autonomous vehicle; Autoware;

D O I：

10.1145/3339985.3358494

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a MATLAB/Simulink benchmark suite for an open-source self-driving system based on Robot Operating System (ROS). In recent years, self-driving systems have been developed worldwide, and the technology has been making remarkable progress. One approach to the development of the self-driving systems is the utilization of ROS which is an open-source middleware framework used for developing robot applications. On the other hand, the popular approach in the automotive industry is the utilization of MATLAB/Simulink which is the software for modeling, simulating, and analyzing. MATLAB/Simulink provides an interface between ROS and MATLAB/Simulink that enables to create functionalities of ROS-based robots in MATLAB/Simulink. However, it has not been fully utilized in the development of the self-driving systems yet because there are not enough open-source models for self-driving. Thus the co-development is difficult. Therefore, we provide a MATLAB/Simulink benchmark suite for a ROS-based self-driving system called Autoware. Autoware is popular opensource software that provides a complete set of self-driving modules. The provided benchmark contains MATLAB/Simulink models. They help to design the ROS-based self-driving systems using MATLAB/Simulink. Moreover, we investigated other benchmarks for self-driving and indicated that this is the first work aiming to the ROS-based self-driving systems with MATLAB/Simulink.

引用

页码：8 / 14

页数：7

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