MATLAB/Simulink benchmark suite for ROS-based self-driving system

Abstract

This paper proposes a MATLAB/Simulink benchmark suite for an open-source self-driving system based on Robot Operating System (ROS). In recent years, self-driving systems have been developed around the world. One approach to the development of self-driving systems is the utilization of ROS which is an open-source middleware framework used in the development of robot applications. On the other hand, the popular approach in the automotive industry is the utilization of MATLAB/Simulink which is software for modeling, simulating, and analyzing. MATLAB/Simulink provides an interface between ROS and MATLAB/Simulink that enables to create functionalities of ROS-based robots in MATLAB/Simulink. However, it is not been fully utilized in the development of self-driving systems yet because there are not enough samples for self-driving, and it is difficult for developers to adopt co-development. Therefore, we provide a MATLAB/Simulink benchmark suite for a ROS-based self-driving system called Autoware. Autoware is popular open-source software that provides a complete set of self-driving modules. The provided benchmark contains MATLAB/Simulink samples available in Autoware. They help to design ROS-based self-driving systems using MATLAB/Simulink.