This work proposes an architecture and platform for researching and demonstrating use-cases for connected cars based on small-scale vehicles. The proposal bridges the gap between a lab setup to test individual algorithms and deployments on real cars. It allows researchers to communicate their results with a small-scale indoor demonstrator. The platform employs ROS2 and MicroROS to allow for a modular and scalable hardware and software setup. Moreover, it allows running all control algorithms in a graphical simulation to ease development of complex scenarios. We successfully apply the platform to build a demonstrator for a platooning use-case and point out limitations such as lacking photorealism of the simulation and limited processing power of the platform. Our results indicate that using a well-designed platform and architecture can significantly reduce required effort for implementing connected cars use-cases.
ROS2-based Small-Scale Development Platform for CCAM Research Demonstrators
2022-06-01
14192040 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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