Open-Source Based and ETSI Compliant Cooperative, Connected, and Automated Mini-Cars
🤖 AI Summary
This work addresses the high cost of full-scale vehicle testing, which hinders the development and validation of cooperative connected autonomous driving algorithms. To bridge this gap, the authors present an open-source, 1:10-scale cooperative connected autonomous vehicle platform. The system integrates a Jetson Orin module with ROS 2 for autonomous driving functionality and employs a Raspberry Pi running the open-source OScar protocol stack to achieve full compliance with ETSI C-ITS standards—the first such implementation on a low-cost scaled platform. Using the Intersection Collision Warning (ICW) application as a case study, the platform successfully demonstrates support for Day-1 C-ITS applications, effectively narrowing the gap between simulation and real-world vehicle testing.
Application Category
📝 Abstract
The automotive sector is following a revolutionary path from vehicles controlled by humans to vehicles that will be fully automated, fully connected, and ultimately fully cooperative. Along this road, new cooperative algorithms and protocols will be designed and field tested, which represents a great challenge in terms of costs. In this context, in particular, moving from simulations to practical experiments requires huge investments that are not always affordable and may become a barrier in some cases. To solve this issue and provide the community with an intermediate step, we here propose the use of 1:10 scaled cooperative, autonomous, and connected mini-cars. The mini-car is equipped with a Jetson Orin board running the open Robot Operating System 2 (ROS2), sensors for autonomous operations, and a Raspberry Pi board for connectivity mounting the open source Open Stack for Car (OScar). A key aspect of the proposal is the use of OScar, which implements a full ETSI cooperative-intelligent transport systems (C-ITS) compliant stack. The feasibility and potential of the proposed platform is here demonstrated through the implementation of a case study where the Day-1 intersection collision warning (ICW) application is implemented and validated.
Problem
Research questions and friction points this paper is trying to address.
cooperative intelligent transport systems
connected automated vehicles
experimental validation
cost barrier
C-ITS
Innovation
Methods, ideas, or system contributions that make the work stand out.
mini-cars
OScar
ETSI C-ITS
ROS2
cooperative automation
🔎 Similar Papers
No similar papers found.
