@article{oai:ipsj.ixsq.nii.ac.jp:00210360,
 author = {Keita, Miura and Shota, Tokunaga and Yuki, Horita and Yasuhiro, Oda and Takuya, Azumi and Keita, Miura and Shota, Tokunaga and Yuki, Horita and Yasuhiro, Oda and Takuya, Azumi},
 issue = {3},
 journal = {情報処理学会論文誌},
 month = {Mar},
 note = {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
------------------------------, 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
------------------------------},
 title = {CoSAM: Co-Simulation Framework for ROS-based Self-driving Systems and MATLAB/Simulink},
 volume = {62},
 year = {2021}
}