无人驾驶入门--Autoware使用手册

【实例简介】
无人驾驶汽车系统入门 - Autoware_UsersManual_v1.1 Autoware-用于城市自主驾驶的集成开源软件，支持以下功能： 3D本地化 3D映射 路径规划 路径跟随 加速/制动/转向控制 数据记录 汽车/行人/物体检测 交通信号检测 交通灯识别 车道检测 对象跟踪 传感器校准 传感器融合 面向云的地图 连接自动化 智能手机导航 软件仿真 虚拟现实 Autoware受BSD许可证保护。请自行负责使用。为了安全使用，我们为不拥有真正自主车辆的人提供基于ROSBAG的仿真方法。如果您使用Autoware与真正的自主车辆，请在现场测试之前制定安全措施和风险评估。
工尹-刁一定義亡机飞求世。 Chapter 1。 About This document This chapter describes the purpose of this document. Autoware Users Manual Autoware Developers manual Chapter 2。 RoS and Autoware Before operating Autoware, RoS and Autoware are described in this chapter. Robot middleware- ros ecently, the wide range potential of robotics has been focused by not only robotics experts but also non-robotics experts to join robot development It is believed that this trend leads robotics to advancement and developments to other domains However, robot development is getting harder because the advancement and the complexity of robot functions have been increased Unlike Pcs and smartphones robotic development has considered various hardware, OS, programming languages. Hence, the differences have mainly been obstructed for robotic developers as well as robotics experts to join robot development To solve the problem, the demand of making common platforms has been increased, and some platforms have been published Within a common platform, developers can combine various software published by other developers, and speed up development by reusing them Therefore, it is expected that developers can more focus on fields of interest ROS (Robot Operating System) is a framework for robotic software development. It was developed by Willow Garage in U.S. OSFR (Open Source Robotics Foundation) has currently maintained it. The open sourced ros has mainly been used by communities in U.S. and Europe as well as communities in Japan Note that ros has "os" in its name however, it is not "os" like Windows or linux. It is a middleware that runs on uniX based OS ROS Features Original build system(Catkin) mage processing library(OpenCv v Data logging tool (ROSBAG) v Visualization tools for data and software state(rviz Coordinate transformation library (TF Qt based gul development tool (RQT A""file is used to start multiple nodes at Autoware utoware is open source software based on ros. autoware is pushed on github for autonomous driving research and development. Most of autonomous driving system consist of recognition, judgment, and operation. Autoware provides necessary functions, such as 3-D map generation, localization, object recognition, and vehicle control, for autonomous driving ROS PC Autoware〔Ros) Recognition Judgment operation Object Detection Lane Keeping Accelerator Localization Intersection Brake Steering AutowareRider Autoware route Path Planning Vehicle Vehicle control (CAN) C Figure 1 Autoware overview while support systems such as driving assistance and safety diagnosis support, use multi-core CPU 3-D Map Generation and Sharing Localization(NDT: Normal Distributions Transform) object Detection Path Generation Autonomous Driving target speed. In addition, the route includes landmarks, "way point, set intervals. The autonomous driving system operates path following by following the way User Interface A user interface called " Runtime Manager of path following. Furthermore, a tablet user interface, "Autoware Rider, of Autoware enables ROS PC Autoware(ROS) Runtime Manager VIZ Autoware rider tablet Display on vehicle Oculus Figure 2 User interface Platform structure for autoware Application Autoware Middleware ROS Host Os Linux( Ubuntu CPU GPU Camera GNSS LIDAR Figure 3 Platform structure for Autoware 【实例截图】
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