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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    ROS2-based Small-Scale Development Platform for CCAM Research Demonstrators


    Contributors:


    Publication date :

    2022-06-01


    Size :

    14192040 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    ROS2 for beginners

    Renard, Edouard / Manning (Firm), | TIBKAT | 2022


    An Enhanced Safe and Reliable Autonomous Driving Platform Using ROS2

    Cui, Hang / Zhang, Jiaming / Norris, William R. | British Library Conference Proceedings | 2020


    Tower crane attachment rod health monitoring system based on ROS2 platform

    AI HUANBIN / XIE YIDONG / CAI SIHAI et al. | European Patent Office | 2024

    Free access

    Open and Modular Service-Oriented CCAM Architecture

    Bolovinou, Anastasia / Spanos, Georgios / Lalas, Antonios et al. | Springer Verlag | 2024

    Free access

    Sensor Fusion for Improved Cooperative Perception in CCAM

    Pinho, Hugo / Ferreira, Joaquim | IEEE | 2024