Journal of Auto-vehicle Safety Association (자동차안전학회지)

Korean Auto-vehicle Safety Association (한국자동차안전학회)
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Development of Simulation Environment for Autonomous Driving Algorithm Validation based on ROS

ROS 기반 자율주행 알고리즘 성능 검증을 위한 시뮬레이션 환경 개발

  • 곽지섭 (서울대학교 기계공학부) ;
  • 이경수 (서울대학교 기계공학부)
  • Received : 2021.05.03
  • Accepted : 2022.02.23
  • Published : 2022.03.31
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Abstract

This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

Keywords

Acknowledgement

본 연구는 국토교통부/국토교통과학기술진흥원의 지원으로 수행되었음(과제번호 21AMDP-C162182-01).

References

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