An Enhanced Safe and Reliable Autonomous Driving Platform using ROS2

Hang Cui, Jiaming Zhang, William R. Norris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages290-295
Number of pages6
ISBN (Electronic)9781728164151
DOIs
StatePublished - Oct 13 2020
Event17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
Duration: Oct 13 2020Oct 16 2020

Publication series

Name2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
CountryChina
CityBeijing
Period10/13/2010/16/20

Keywords

  • ROS2
  • RTOS
  • Safety-critical
  • Self-driving

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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