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http://dx.doi.org/10.22680/kasa2022.14.1.020

Development of Simulation Environment for Autonomous Driving Algorithm Validation based on ROS  

Kwak, Jisub (서울대학교 기계공학부)
Yi, Kyongsu (서울대학교 기계공학부)
Publication Information
Journal of Auto-vehicle Safety Association / v.14, no.1, 2022 , pp. 20-25 More about this Journal
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
Autonomous driving; ROS; Evaluation scenarios; Virtual Sensor; Motion Planning;
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  • Reference
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