RoboCar: A Rapidly Deployable Open Source Platform for Autonomous Driving Research

2024-05-06

IEEE Intelligent Transportation Systems Magazine

AI Summary

To address the high deployment costs, complex vehicle modifications, and scarcity of open-source solutions in autonomous driving research platforms, this paper introduces RoboCar: the first fully open-source, MIT-licensed autonomous driving system (ADS) research platform built on a production vehicle—the 2018+ Kia Soul EV—with minimal vehicle modification. RoboCar employs a modular hardware architecture integrating LiDAR, cameras, IMU, and GPS for multi-sensor fusion, and leverages a ROS-based software stack with deep CAN bus integration. It has been validated on public roads in Luxembourg City, successfully executing core ADS functions including perception, localization, and motion planning. Its primary contribution is the pioneering transformation of a production-grade electric vehicle into a lightweight-modification, high-fidelity, and fully open research platform—significantly lowering the barrier to entry for ADS experimentation. All source code and hardware design files are publicly available on GitHub.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Computer Vision: Vision for Robotics & Autonomous Driving
• Application Domains: Mobility, Driving & Flight

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Search and Retrieval-Augmented AI: Agentic search

Abstract

This article introduces RoboCar, an open source research platform for autonomous driving developed at the University of Luxembourg. RoboCar provides a modular cost-effective framework for the development of experimental autonomous driving systems (ADSs), utilizing the 2018 c Soul EV. The platform integrates a robust hardware and software architecture that aligns with the vehicle’s existing systems, minimizing the need for extensive modifications. It supports various autonomous driving functions and has undergone real-world testing on public roads in Luxembourg City. This article outlines the platform’s architecture, integration challenges, and initial test results, offering insights into its application in advancing autonomous driving research. RoboCar is available to anyone at https://github.com/sntubix/robocar and is released under an open source MIT license.

Problem

• Develops open-source platform for autonomous driving research
• Provides modular framework for experimental Autonomous Driving Systems
• Integrates hardware and software with minimal vehicle modifications

Innovation

• Modular open-source platform for autonomous driving
• Cost-effective integration with KIA Soul EV
• Real-world tested on public roads