CARLA-Autoware-Bridge: Facilitating Autonomous Driving Research with a Unified Framework for Simulation and Module Development

Gemb Kaljavesi, Tobias Kerbl, Tobias Betz, Kirill Mitkovskii, Frank Diermeyer

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

Extensive testing is necessary to ensure the safety of autonomous driving modules. In addition to component tests, the safety assessment of individual modules also requires a holistic view at system level, which can be carried out efficiently with the help of simulation. Achieving seamless compatibility between a modular software stack and simulation is complex and poses a significant challenge for many researchers. To ensure testing at the system level with state-of-the-art AV software and simulation software, we have developed and analyzed a bridge connecting the CARLA simulator with the AV software Autoware Core/Universe. This publicly available bridge enables researchers to easily test their modules within the overall software. Our investigations show that an efficient and reliable communication system has been established. We provide the simulation bridge as open-source software at https://github.com/TUMFTM/Carla-Autoware-Bridge.

OriginalspracheEnglisch
Titel35th IEEE Intelligent Vehicles Symposium, IV 2024
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten224-229
Seitenumfang6
ISBN (elektronisch)9798350348811
DOIs
PublikationsstatusVeröffentlicht - 2024
Veranstaltung35th IEEE Intelligent Vehicles Symposium, IV 2024 - Jeju Island, Südkorea
Dauer: 2 Juni 20245 Juni 2024

Publikationsreihe

NameIEEE Intelligent Vehicles Symposium, Proceedings
ISSN (Print)1931-0587
ISSN (elektronisch)2642-7214

Konferenz

Konferenz35th IEEE Intelligent Vehicles Symposium, IV 2024
Land/GebietSüdkorea
OrtJeju Island
Zeitraum2/06/245/06/24

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