著者

Keita Miura Shota Tokunaga Yuki Horita Yasuhiro Oda Takuya Azumi

出版者

Information Processing Society of Japan

雑誌

Journal of Information Processing (ISSN:18826652)

巻号頁・発行日

vol.29, pp.227-235, 2021 (Released:2021-03-15)

参考文献数

17

被引用文献数

8

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In recent year, autonomous vehicles have been developed worldwide. ROS, which is a middleware suitable for the development of a self-driving system, is rarely used in the automotive industry. MATLAB/Simulink, which is a development software suitable for Model-based development, is usually utilized. To integrate a program created with MATLAB/Simulink into a ROS-based self-driving system, it is necessary to convert the program into C++ code and adapt to the network of the ROS-based self-driving system, which makes development inefficient. We used Autoware as ROS-based self-driving system and provided a framework which realizes co-simulation between Autoware and MATLAB/Simulink (CoSAM). CoSAM enables developers to integrate the program created with MATLAB/Simulink into the ROS-based self-driving system without converting into C++ code. Therefore, CoSAM makes the development of the self-driving system easy and efficient. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.