RT Conference Proceedings
T1 A Control Testing Framework for automated driving functionalities using modular architecture with ROS/CARLA environment
A1 Arizala, Asier
A1 Lattarulo, Ray
A1 Zubizarreta, Asier
A1 Perez, Joshue
A2 Ferariu, Lavinia
A2 Matcovschi, Mihaela-Hanako
A2 Ungureanu, Florina
AB Interest 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781665414968
YR 2021
FD 2021
LA eng
NO Arizala , 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
NO conference
NO Publisher Copyright: © 2021 IEEE.
NO This project has been supported by the Government of the Basque Country, project code KK-2021/00123.
DS TECNALIA Publications
RD 28 sept 2024