TY - GEN
T1 - Simplifying Sim-to-Real Transfer in Autonomous Driving
T2 - 35th IEEE Intelligent Vehicles Symposium, IV 2024
AU - Würsching, Gerald
AU - Mascetta, Tobias
AU - Lin, Yuanfei
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Validating motion planning algorithms for autonomous vehicles on a real system is essential to improve their safety in the real world. Open-source initiatives, such as Autoware, provide a deployable software stack for real vehicles. However, such driving stacks have a high entry barrier, so that integrating new algorithms is tedious. Especially new research results are thus mostly evaluated only in simulation, e.g., within the CommonRoad benchmark suite. To address this problem, we present CR2AW, a publicly available interface between the CommonRoad framework and Autoware. CR2AW significantly simplifies the sim-to-real transfer of motion planning research, by allowing users to easily integrate their CommonRoad planning modules into Autoware. Our experiments both in simulation and on our research vehicle showcase the usefulness of CR2AW.
AB - Validating motion planning algorithms for autonomous vehicles on a real system is essential to improve their safety in the real world. Open-source initiatives, such as Autoware, provide a deployable software stack for real vehicles. However, such driving stacks have a high entry barrier, so that integrating new algorithms is tedious. Especially new research results are thus mostly evaluated only in simulation, e.g., within the CommonRoad benchmark suite. To address this problem, we present CR2AW, a publicly available interface between the CommonRoad framework and Autoware. CR2AW significantly simplifies the sim-to-real transfer of motion planning research, by allowing users to easily integrate their CommonRoad planning modules into Autoware. Our experiments both in simulation and on our research vehicle showcase the usefulness of CR2AW.
UR - https://www.scopus.com/pages/publications/85199761647
U2 - 10.1109/IV55156.2024.10588748
DO - 10.1109/IV55156.2024.10588748
M3 - Conference contribution
AN - SCOPUS:85199761647
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 1462
EP - 1469
BT - 35th IEEE Intelligent Vehicles Symposium, IV 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 2 June 2024 through 5 June 2024
ER -