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Smart city article details
| Title | Competing With Autonomous Model Vehicles: A Software Stack For Driving In Smart City Environments |
|---|---|
| ID_Doc | 15209 |
| Authors | Bächle J.; Häringer J.; Köhler N.; Özer K.-K.; Enzweiler M.; Marchthaler R. |
| Year | 2024 |
| Published | Autonomous Intelligent Systems, 4, 1 |
| DOI | http://dx.doi.org/10.1007/s43684-024-00074-w |
| Abstract | This article introduces an open-source software stack designed for autonomous 1:10 scale model vehicles. Initially developed for the Bosch Future Mobility Challenge (BFMC) student competition, this versatile software stack is applicable to a variety of autonomous driving competitions. The stack comprises perception, planning, and control modules, each essential for precise and reliable scene understanding in complex environments such as a miniature smart city in the context of BFMC. Given the limited computing power of model vehicles and the necessity for low-latency real-time applications, the stack is implemented in C++, employs YOLO Version 5 s for environmental perception, and leverages the state-of-the-art Robot Operating System (ROS) for inter-process communication. We believe that this article and the accompanying open-source software will be a valuable resource for future teams participating in autonomous driving student competitions. Our work can serve as a foundational tool for novice teams and a reference for more experienced participants. The code and data are publicly available on GitHub. © The Author(s) 2024. |
| Author Keywords | Autonomous driving; Autonomous model vehicle; Bosch Future Mobility Challenge; Embedded real-time systems; Software architecture |
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