An Enhanced Safe and Reliable Autonomous Driving Platform using ROS2

摘要

This paper proposes a safety-critical Real-Time Operating System (RTOS) based high-low level controller framework for a self-driving car's control law development. Using the new features of the Robot Operating System 2 (ROS2), an enhanced safe and reliable self-driving platform was built and used for testing different types of controllers. A real-time Drive-by-Wire (DBW) control kit with an industry standard Controller Area Network (CAN) bus was also designed to replace the less reliable ROS serial communication interface. This is the first application of ROS2 on a 1/10 scale Ackermann steering platform, and in the use of Simulink controller modeling to rapidly prototype the high-level controller design for self-driving cars.