A software architecture for an autonomous racecar

Johannes Betz; Alexander Wischnewski; Alexander Heilmeier; Felix Nobis; Tim Stahl; Leonhard Hermansdorfer; Markus Lienkamp

doi:10.1109/VTCSpring.2019.8746367

A software architecture for an autonomous racecar

Johannes Betz, Alexander Wischnewski, Alexander Heilmeier, Felix Nobis, Tim Stahl, Leonhard Hermansdorfer, Markus Lienkamp

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

39 Scopus citations

Abstract

This paper presents a detailed description of the software architecture that is used in the autonomous Roborace vehicles by the TUM-Team. The development of the software architecture was driven by both hardware components and usage of open source languages for making the software architecture reusable and easy to understand. The architecture combines the autonomous software functions perception, planning and control which are modularized for the usage on different hardware and for the purpose of using the car on high speed racetracks. The goal of the paper is to show which software functions are necessary for letting the car drive autonomously and fast around a racetrack.

Original language	English
Title of host publication	2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728112176
DOIs	https://doi.org/10.1109/VTCSpring.2019.8746367
State	Published - Apr 2019
Event	89th IEEE Vehicular Technology Conference, VTC Spring 2019 - Kuala Lumpur, Malaysia Duration: 28 Apr 2019 → 1 May 2019

Publication series

Name	IEEE Vehicular Technology Conference
Volume	2019-April
ISSN (Print)	1550-2252

Conference

Conference	89th IEEE Vehicular Technology Conference, VTC Spring 2019
Country/Territory	Malaysia
City	Kuala Lumpur
Period	28/04/19 → 1/05/19

Access to Document

10.1109/VTCSpring.2019.8746367

Cite this

Betz, J., Wischnewski, A., Heilmeier, A., Nobis, F., Stahl, T., Hermansdorfer, L., & Lienkamp, M. (2019). A software architecture for an autonomous racecar. In 2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings Article 8746367 (IEEE Vehicular Technology Conference; Vol. 2019-April). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/VTCSpring.2019.8746367

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title = "A software architecture for an autonomous racecar",

abstract = "This paper presents a detailed description of the software architecture that is used in the autonomous Roborace vehicles by the TUM-Team. The development of the software architecture was driven by both hardware components and usage of open source languages for making the software architecture reusable and easy to understand. The architecture combines the autonomous software functions perception, planning and control which are modularized for the usage on different hardware and for the purpose of using the car on high speed racetracks. The goal of the paper is to show which software functions are necessary for letting the car drive autonomously and fast around a racetrack.",

author = "Johannes Betz and Alexander Wischnewski and Alexander Heilmeier and Felix Nobis and Tim Stahl and Leonhard Hermansdorfer and Markus Lienkamp",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 89th IEEE Vehicular Technology Conference, VTC Spring 2019 ; Conference date: 28-04-2019 Through 01-05-2019",

year = "2019",

month = apr,

doi = "10.1109/VTCSpring.2019.8746367",

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Betz, J, Wischnewski, A, Heilmeier, A, Nobis, F, Stahl, T, Hermansdorfer, L & Lienkamp, M 2019, A software architecture for an autonomous racecar. in 2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings., 8746367, IEEE Vehicular Technology Conference, vol. 2019-April, Institute of Electrical and Electronics Engineers Inc., 89th IEEE Vehicular Technology Conference, VTC Spring 2019, Kuala Lumpur, Malaysia, 28/04/19. https://doi.org/10.1109/VTCSpring.2019.8746367

A software architecture for an autonomous racecar. / Betz, Johannes; Wischnewski, Alexander; Heilmeier, Alexander et al.
2019 IEEE 89th Vehicular Technology Conference, VTC Spring 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. 8746367 (IEEE Vehicular Technology Conference; Vol. 2019-April).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper presents a detailed description of the software architecture that is used in the autonomous Roborace vehicles by the TUM-Team. The development of the software architecture was driven by both hardware components and usage of open source languages for making the software architecture reusable and easy to understand. The architecture combines the autonomous software functions perception, planning and control which are modularized for the usage on different hardware and for the purpose of using the car on high speed racetracks. The goal of the paper is to show which software functions are necessary for letting the car drive autonomously and fast around a racetrack.

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A software architecture for an autonomous racecar

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