MATLAB/Simulink Benchmark Suite for ROS-based Self-driving Software Platform

Abstract

In recent years, self-driving systems have been developed worldwide, and the technology has been making remarkable progress. One approach to the development of the autonomous vehicle is using ROS which is an open-source middleware framework used for developing robot applications. On the other hand, the popular approach in the automotive industry is using MATLAB/Simulink which is the software for modeling, simulating, and analyzing. MATLAB/Simulink has an interface connecting ROS and MATLAB/Simulink. However, it is not used much in the development of self-driving systems because there are not enough samples for the self-driving systems. Therefore, we provide a MATLAB/Simulink benchmark suite for a ROS-based self-driving system called Autoware. Autoware provides an abundant set of self-driving modules and enables to simulate and operate the autonomous vehicle. The provided benchmark is a set of MATLAB code and Simulink model samples. They assist to design the self-driving systems using MATLAB/Simulink.