A Control Testing Framework for automated driving functionalities using modular architecture with ROS/CARLA environment

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dc.contributor.authorArizala, Asier
dc.contributor.authorLattarulo, Ray
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorPerez, Joshue
dc.contributor.editorFerariu, Lavinia
dc.contributor.editorMatcovschi, Mihaela-Hanako
dc.contributor.editorUngureanu, Florina
dc.contributor.institutionCCAM
dc.date.issued2021
dc.descriptionPublisher Copyright: © 2021 IEEE.
dc.description.abstractInterest in Automated Vehicles (AV) has increased in the last years due to the need of providing more efficient and safe transportation systems. However, the development of AV functionalities is a complex task, as multiple technologies have to be tested and integrated to fulfill the required automation level. Moreover, the number of different scenarios that have to be dealt with Cooperative and Connected Automated Mobility (CCAM) solutions makes traditional track testing a non-optimal approach. Due to this, in recent years interest in the development of simulation-based testing frameworks has arisen, with open-source and commercial solutions trying to fulfill the requirements of AV development. This work introduces an automated vehicle testing framework that combines the widely used open-source simulation environment CARLA with a self-developed modular control framework AUDRIC. The communication between both is made using the ROS environment. The proposed approach provides the advantages of both environments in terms of flexibility and modularity, allowing the development of automated functionalities for the different modules of AV architecture. The validity of the approach is demonstrated by presenting two use cases: a lane following application and an obstacle avoidance scenario.en
dc.description.sponsorshipThis project has been supported by the Government of the Basque Country, project code KK-2021/00123.
dc.description.statusPeer reviewed
dc.format.extent7
dc.identifier.citationArizala , A , Lattarulo , R , Zubizarreta , A & Perez , J 2021 , A Control Testing Framework for automated driving functionalities using modular architecture with ROS/CARLA environment . in L Ferariu , M-H Matcovschi & F Ungureanu (eds) , 2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings . 2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings , Institute of Electrical and Electronics Engineers Inc. , pp. 314-320 , 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 , Iasi , Romania , 20/10/21 . https://doi.org/10.1109/ICSTCC52150.2021.9607221
dc.identifier.citationconference
dc.identifier.doi10.1109/ICSTCC52150.2021.9607221
dc.identifier.isbn9781665414968
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85123293012&partnerID=8YFLogxK
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.ispartof2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings
dc.relation.ispartofseries2021 25th International Conference on System Theory, Control and Computing, ICSTCC 2021 - Proceedings
dc.relation.projectIDGovernment of the Basque Country, KK-2021/00123
dc.rightsinfo:eu-repo/semantics/restrictedAccess
dc.subject.keywordsAutonomous driving
dc.subject.keywordscontrol
dc.subject.keywordspath-planning
dc.subject.keywordsSimulation
dc.subject.keywordsArtificial Intelligence
dc.subject.keywordsComputational Theory and Mathematics
dc.subject.keywordsControl and Systems Engineering
dc.subject.keywordsControl and Optimization
dc.titleA Control Testing Framework for automated driving functionalities using modular architecture with ROS/CARLA environmenten
dc.typeconference output
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