A Self-Driving Car Architecture in ROS2. Reke, M., Peter, D., Schulte-Tigges, J., Schiffer, S., Ferrein, A., Walter, T., & Matheis, D. In 2020 International SAUPEC/RobMech/PRASA Conference, pages 1–6, Jan, 2020. ![A Self-Driving Car Architecture in ROS2 [link]](https://bibbase.org/img/filetypes/link.svg "link")
Ieeexpl doi abstract bibtex In this paper we report on an architecture for a self-driving car that is based on ROS2. Self-driving cars have to take decisions based on their sensory input in real-time, providing high reliability with a strong demand in functional safety. In principle, self-driving cars are robots. However, typical robot software, in general, and the previous version of the Robot Operating System (ROS), in particular, does not always meet these requirements. With the successor ROS2 the situation has changed and it might be considered as a solution for automated and autonomous driving. Existing robotic software based on ROS was not ready for safety critical applications like self-driving cars. We propose an architecture for using ROS2 for a self-driving car that enables safe and reliable real-time behaviour, but keeping the advantages of ROS such as a distributed architecture and standardised message types. First experiments with an automated real passenger car at lower and higher speed-levels show that our approach seems feasible for autonomous driving under the necessary real-time conditions.
@INPROCEEDINGS{ Reke-etAl_RobMech2020_Self-Driving-Car-Arch-ROS2,
author = {M. {Reke} and D. {Peter} and J. {Schulte-Tigges} and
S. {Schiffer} and A. {Ferrein} and T. {Walter} and
D. {Matheis}},
booktitle = {2020 International SAUPEC/RobMech/PRASA Conference},
title = {A Self-Driving Car Architecture in {ROS2}},
month = {Jan},
year = {2020},
pages = {1--6},
doi = {10.1109/SAUPEC/RobMech/PRASA48453.2020.9041020},
url_IEEEXpl = {https://ieeexplore.ieee.org/abstract/document/9041020},
ISBN = {Electronic ISBN: 978-1-7281-4162-6, Print on Demand(PoD) ISBN: 978-1-7281-4163-3},
keywords = {ADP; UPNS4D; ARTUS; automobiles; control engineering
computing; mobile robots; safety-critical software;
autonomous driving; robotic software; self-driving
cars; automated real passenger car; self-driving car
architecture; Self-driving car; autonomous driving;
architecture; robot operating system; ROS; ROS2;
LKAS; V2X},
abstract = {In this paper we report on an architecture for a
self-driving car that is based on ROS2. Self-driving
cars have to take decisions based on their sensory
input in real-time, providing high reliability with
a strong demand in functional safety. In principle,
self-driving cars are robots. However, typical robot
software, in general, and the previous version of
the Robot Operating System (ROS), in particular,
does not always meet these requirements. With the
successor ROS2 the situation has changed and it
might be considered as a solution for automated and
autonomous driving. Existing robotic software based
on ROS was not ready for safety critical
applications like self-driving cars. We propose an
architecture for using ROS2 for a self-driving car
that enables safe and reliable real-time behaviour,
but keeping the advantages of ROS such as a
distributed architecture and standardised message
types. First experiments with an automated real
passenger car at lower and higher speed-levels show
that our approach seems feasible for autonomous
driving under the necessary real-time conditions.},
}
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Self-driving\n cars have to take decisions based on their sensory\n input in real-time, providing high reliability with\n a strong demand in functional safety. In principle,\n self-driving cars are robots. However, typical robot\n software, in general, and the previous version of\n the Robot Operating System (ROS), in particular,\n does not always meet these requirements. With the\n successor ROS2 the situation has changed and it\n might be considered as a solution for automated and\n autonomous driving. Existing robotic software based\n on ROS was not ready for safety critical\n applications like self-driving cars. We propose an\n architecture for using ROS2 for a self-driving car\n that enables safe and reliable real-time behaviour,\n but keeping the advantages of ROS such as a\n distributed architecture and standardised message\n types. First experiments with an automated real\n passenger car at lower and higher speed-levels show\n that our approach seems feasible for autonomous\n driving under the necessary real-time conditions.},\n}\n\n% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n% 2019\n% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n\n","author_short":["Reke, M.","Peter, D.","Schulte-Tigges, J.","Schiffer, S.","Ferrein, A.","Walter, T.","Matheis, D."],"key":"Reke-etAl_RobMech2020_Self-Driving-Car-Arch-ROS2","id":"Reke-etAl_RobMech2020_Self-Driving-Car-Arch-ROS2","bibbaseid":"reke-peter-schultetigges-schiffer-ferrein-walter-matheis-aselfdrivingcararchitectureinros2-2020","role":"author","urls":{" ieeexpl":"https://ieeexplore.ieee.org/abstract/document/9041020"},"keyword":["ADP; UPNS4D; ARTUS; automobiles; control engineering computing; mobile robots; safety-critical software; autonomous driving; robotic software; self-driving cars; automated real passenger car; self-driving car architecture; Self-driving car; autonomous driving; architecture; robot operating system; ROS; ROS2; LKAS; V2X"],"metadata":{"authorlinks":{}}},"bibtype":"inproceedings","biburl":"http://maskor.fh-aachen.de/biblio/MASKOR.bib","dataSources":["h8Pz4jiwoLbb3hmG2","i8ftsMK5wMbiNqmtB","pBDNm3knLemYTNMHw"],"keywords":["adp; upns4d; artus; automobiles; control engineering computing; mobile robots; safety-critical software; autonomous driving; robotic software; self-driving cars; automated real passenger car; self-driving car architecture; self-driving car; autonomous driving; architecture; robot operating system; ros; ros2; lkas; v2x"],"search_terms":["self","driving","car","architecture","ros2","reke","peter","schulte-tigges","schiffer","ferrein","walter","matheis"],"title":"A Self-Driving Car Architecture in ROS2","year":2020}