OpenCDA-ROS: Enabling Seamless Integration of Simulation and Real-World Cooperative Driving Automation

Autonomous driving (AD) and Cooperative Driving Automation (CDA) hold great promise for transforming mobility. However, current off-the-shelf AD or CDA platforms such as Autoware, Apollo, and CARMA, are subject to gaps between simulation and the real world and do not offer integrated pipelines for CDA research, development, and deployment. In this letter, the authors conceptualize OpenCDA-ROS, building on the strengths of an open-source framework OpenCDA and the Robot Operating System (ROS), to seamlessly synthesize ROS's real-world deployment capabilities with OpenCDA's mature CDA research framework and simulation-based evaluation to fill the gaps aforementioned. OpenCDA-ROS will leverage the advantages of both ROS and OpenCDA to boost the prototyping and deployment of critical CDA features in both simulation and the real world, particularly for cooperative perception, mapping and digital twinning, cooperative decision-making and motion planning, and smart infrastructure services. By offering seamless integration of simulation and real-world CDA, OpenCDA-ROS contributes significantly to advancing fundamental research, development, testing, validation, prototyping, and deployment of autonomous driving and CDA.

• Record URL:
  http://dx.doi.org/10.1109/TIV.2023.3298528
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2023, IEEE.
• Authors:
  • Zheng, Zhaoliang
  • Han, Xu
  • Xia, Xin
  • 0000-0002-5108-7578
  • Gao, Letian
  • Xiang, Hao
  • Ma, Jiaqi
• Publication Date: 2023-7

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References;
• Pagination: pp 3775-3780
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 8
  • Issue Number: 7
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Automated vehicle control; Automation; Autonomous vehicles; Detection and identification systems; Trajectory control
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01892339
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 5 2023 4:12PM