Low Cost, Open-Source Platform to Enable Full-Sized Automated Vehicle Research

摘要

An open-source vehicle automation methodology, and platform for road vehicles (cars, and trucks) is presented. The platform hardware, and software, based on the Robot Operating System (ROS), are detailed. Two strategies are discussed for enabling the remote control of a vehicle (in this case, an electric 2013 Ford Focus). The first approach used digital filtering of Controller Area Network (CAN) messages. In the case of the test vehicle, this approach allowed for the control of acceleration from a tap-point on the CAN bus, and the OBD-II port. The second approach, based on the emulation of the analog output(s) of a vehicle's accelerator pedal, brake pedal, and steering torque sensors, is more generally applicable and, in the test vehicle, allowed for the full control vehicle acceleration, braking, and steering. To demonstrate the utility of the methodology, and platform for vehicle automation research, a very basic low-level velocity, and steering controllers are developed. Additionally a high level path following algorithm was developed. Finally, the system is validated experimentally.