基于ros的自动驾驶系统的MATLAB/Simulink基准套件:演示摘要

Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems Pub Date : 2019-04-16 DOI:10.1145/3302509.3313315

Shota Tokunaga, Noriyuki Ota, Yoshiharu Tange, Keita Miura, Takuya Azumi

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引用次数: 2

摘要

本文提出了一个基于机器人操作系统(ROS)的开源自动驾驶系统的MATLAB/Simulink基准测试套件。近年来，世界各地都在开发自动驾驶系统。开发自动驾驶系统的一种方法是利用ROS，这是一种用于开发机器人应用程序的开源中间件框架。另一方面，在汽车工业中流行的方法是利用MATLAB/Simulink进行建模、仿真和分析。MATLAB/Simulink提供了ROS和MATLAB/Simulink之间的接口，可以在MATLAB/Simulink中创建基于ROS的机器人的功能。但是在自动驾驶系统的开发中，由于没有足够的自动驾驶样本，开发人员很难采取协同开发的方式，因此尚未充分利用它。因此，我们为基于ros的自动驾驶系统Autoware提供了MATLAB/Simulink基准套件。Autoware是一款流行的开源软件，它提供了一套完整的自动驾驶模块。提供的基准包含Autoware中提供的MATLAB/Simulink示例。他们帮助使用MATLAB/Simulink设计基于ros的自动驾驶系统。

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MATLAB/Simulink benchmark suite for ROS-based self-driving system: demo abstract

This paper proposes 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 around the world. One approach to the development of self-driving systems is the utilization of ROS which is an open-source middleware framework used in the development of robot applications. On the other hand, the popular approach in the automotive industry is the utilization of MATLAB/Simulink which is 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 is not been fully utilized in the development of self-driving systems yet because there are not enough samples for self-driving, and it is difficult for developers to adopt co-development. Therefore, we provide a MATLAB/Simulink benchmark suite for a ROS-based self-driving system called Autoware. Autoware is popular open-source software that provides a complete set of self-driving modules. The provided benchmark contains MATLAB/Simulink samples available in Autoware. They help to design ROS-based self-driving systems using MATLAB/Simulink.

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Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems

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