CoSAM: Co-Simulation Framework for ROS-based Self-driving Systems and MATLAB/Simulink

• Item type: Journal(1)
• 公開日: 2021-03-15
• タイトル: CoSAM: Co-Simulation Framework for ROS-based Self-driving Systems and MATLAB/Simulink
• タイトル / 言語: en
• タイトル: CoSAM: Co-Simulation Framework for ROS-based Self-driving Systems and MATLAB/Simulink
• 言語: eng
• キーワード / 主題Scheme: Other
• キーワード / 主題: [特集：組込みシステム工学] self-driving system, development framework, MATLAB/Simulink, robot operating system, and autoware
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_6501
• 資源タイプ: journal article
• 著者所属: Saitama University
• 著者所属: Osaka University
• 著者所属: Hitachi, Ltd.
• 著者所属: Hitachi Automotive Systems, Ltd.
• 著者所属: Saitama University
• 著者所属(英): en
• 著者所属(英): Saitama University
• 著者所属(英): en
• 著者所属(英): Osaka University
• 著者所属(英): en
• 著者所属(英): Hitachi, Ltd.
• 著者所属(英): en
• 著者所属(英): Hitachi Automotive Systems, Ltd.
• 著者所属(英): en
• 著者所属(英): Saitama University
• 著者名: Keita, Miura; Shota, Tokunaga; Yuki, Horita; Yasuhiro, Oda; Takuya, Azumi
• 著者名(英): Keita, Miura; Shota, Tokunaga; Yuki, Horita; Yasuhiro, Oda; Takuya, Azumi
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: In recent year, autonomous vehicles have been developed worldwide. ROS, which is a middleware suitable for the development of a self-driving system, is rarely used in the automotive industry. MATLAB/Simulink, which is a development software suitable for Model-based development, is usually utilized. To integrate a program created with MATLAB/Simulink into a ROS-based self-driving system, it is necessary to convert the program into C++ code and adapt to the network of the ROS-based self-driving system, which makes development inefficient. We used Autoware as ROS-based self-driving system and provided a framework which realizes co-simulation between Autoware and MATLAB/Simulink (CoSAM). CoSAM enables developers to integrate the program created with MATLAB/Simulink into the ROS-based self-driving system without converting into C++ code. Therefore, CoSAM makes the development of the self-driving system easy and efficient. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.; ------------------------------; This is a preprint of an article intended for publication Journal of; Information Processing(JIP). This preprint should not be cited. This; article should be cited as: Journal of Information Processing Vol.29(2021) (online); DOI http://dx.doi.org/10.2197/ipsjjip.29.227; ------------------------------
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: In recent year, autonomous vehicles have been developed worldwide. ROS, which is a middleware suitable for the development of a self-driving system, is rarely used in the automotive industry. MATLAB/Simulink, which is a development software suitable for Model-based development, is usually utilized. To integrate a program created with MATLAB/Simulink into a ROS-based self-driving system, it is necessary to convert the program into C++ code and adapt to the network of the ROS-based self-driving system, which makes development inefficient. We used Autoware as ROS-based self-driving system and provided a framework which realizes co-simulation between Autoware and MATLAB/Simulink (CoSAM). CoSAM enables developers to integrate the program created with MATLAB/Simulink into the ROS-based self-driving system without converting into C++ code. Therefore, CoSAM makes the development of the self-driving system easy and efficient. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.; ------------------------------; This is a preprint of an article intended for publication Journal of; Information Processing(JIP). This preprint should not be cited. This; article should be cited as: Journal of Information Processing Vol.29(2021) (online); DOI http://dx.doi.org/10.2197/ipsjjip.29.227; ------------------------------
• 書誌レコードID / 収録物識別子タイプ: NCID
• 書誌レコードID / 収録物識別子: AN00116647
• 書誌情報: 情報処理学会論文誌; 巻 62, 号 3, 発行日 2021-03-15
• ISSN / 収録物識別子タイプ: ISSN
• ISSN / 収録物識別子: 1882-7764