A Lightweight and Multi-OS Compatible Middleware Designed for Autonomous Driving

With the development of ITS (intelligent transportation systems) and autonomous driving, connections among cars, and the communication between sensors and algorithms are becoming more and more flexible and sophisticated, raising the demand for the compatibility of software platforms. Currently, however, widely applied software platforms like ROS and Apollo only support specific versions of Ubuntu, which limits the communication and transplant among various equipment. Thus, this paper presents a highly compatible software platform named OpenICV (open intelligent connected vehicle), which is deployed and tested on Tsinghua autonomous driving experimental vehicles. OpenICV supports the majority types of mainstream operating systems, such as Linux, Windows, QNX, macOS, RTLinux, and Embedded Linux. The autopilot vehicles equipped with different hardware and operating systems can achieve effective communication via OpenICV. In addition, the autopilot algorithms developed on OpenICV can be easily transplanted among different equipment. A fast and secure communication mechanism is developed on OpenICV.


  • English

Media Info

  • Media Type: Web
  • Pagination: pp 544-555
  • Monograph Title: CICTP 2020: Transportation Evolution Impacting Future Mobility

Subject/Index Terms

Filing Info

  • Accession Number: 01767346
  • Record Type: Publication
  • ISBN: 9780784483053
  • Files: TRIS, ASCE
  • Created Date: Dec 9 2020 3:01PM