@inproceedings{11289e3ef5a947559d3b4c31469ae4ca,
title = "An Enhanced Safe and Reliable Autonomous Driving Platform using ROS2",
abstract = "This paper proposes a safety-critical Real-Time Operating System (RTOS) based high-low level controller framework for a self-driving car's control law development. Using the new features of the Robot Operating System 2 (ROS2), an enhanced safe and reliable self-driving platform was built and used for testing different types of controllers. A real-time Drive-by-Wire (DBW) control kit with an industry standard Controller Area Network (CAN) bus was also designed to replace the less reliable ROS serial communication interface. This is the first application of ROS2 on a 1/10 scale Ackermann steering platform, and in the use of Simulink controller modeling to rapidly prototype the high-level controller design for self-driving cars.",
keywords = "ROS2, RTOS, Safety-critical, Self-driving",
author = "Hang Cui and Jiaming Zhang and Norris, {William R.}",
note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 ; Conference date: 13-10-2020 Through 16-10-2020",
year = "2020",
month = oct,
day = "13",
doi = "10.1109/ICMA49215.2020.9233814",
language = "English (US)",
series = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "290--295",
booktitle = "2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020",
address = "United States",
}