Abstract
While current research and development of autonomous driving primarily focuses on developing new features and algorithms, the transfer from isolated software components into an entire software stack has been covered sparsely. Besides that, due to the complexity of autonomous software stacks and public road traffic, the optimal validation of entire stacks is an open research problem. Our paper targets these two aspects. We present our autonomous research vehicle EDGAR and its digital twin, a detailed virtual duplication of the vehicle. While the vehicle's setup is closely related to the state of the art, its virtual duplication is a valuable contribution as it is crucial for a consistent validation process from simulation to real-world tests. In addition, different development teams can work with the same model, making integration and testing of the software stacks much easier, significantly accelerating the development process. The real and virtual vehicles are embedded in a comprehensive development environment, which is also introduced. All parameters of the digital twin are provided open-source at this https URL.
Abstract (translated)
虽然目前自动驾驶研究的主要集中在开发新功能和算法,但将孤立的软件组件转移到整个软件栈的情况却未被广泛关注。此外,由于自动驾驶软件栈和公共交通的复杂性,整个软件栈的最佳验证是一个开放的研究问题。本文针对这两个方面进行探讨。我们介绍了我们的自动驾驶研究车EDgar及其数字孪生,这是车辆详细虚拟复制。尽管车辆 setup 与先进技术密切相关,但它的虚拟复制是一项有价值的贡献,因为它对于从模拟到现实世界测试的一致性验证过程至关重要。此外,不同的开发团队可以使用相同的模型,使软件栈的集成和测试变得更加容易,大大加速了开发过程。真实和虚拟车辆嵌入了一个综合的开发环境中,这也是介绍的内容。数字孪生的所有参数在此httpsURL上提供开源。
URL
https://arxiv.org/abs/2309.15492
