Abstract
One field of research that has gained importance within the automotive industry is autonomous driving. In recent years, interesting advances have been made in this field. In turn, the emerging technology vehicle-to-everything (V2X), is expanding the automotive world by enabling a cooperative autonomous driving due to communication between vehicles. This cooperation significantly improves energy efficiency, safety, comfortability and traffic management on the road. Another emerging technology for both robotics and automotive is the middleware Robot Operative System (ROS). Different ROS-based platforms provide services to automotive such as localisation, perception, prediction, route planning and object detection, among others.
This paper aim is to define a demonstrator, based on V2X communication, where two ROS-based vehicles perform a specific use case within cooperative autonomous driving. As a result of the work, the developed demonstrator is integrated in specific hardware in which the real application would be integrated. For a test environment, a simulator for autonomous vehicles has been used, which reduces the costs of having real vehicles, the necessary sensors or a circuit where to do the tests.
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Acknowledgements
This work was partially supported by the Basque Country Government under the ELKARTEK program, project ERTZEAN - Arquitectura embebida para nuevas aplicaciones edge computing (KK-2021/00111).
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Gomez, I., Diaz de Cerio, U. (2023). Designing an Autonomous Cooperative Driving System for ROS-Based Vehicles Using V2X Communications. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 589. Springer, Cham. https://doi.org/10.1007/978-3-031-21065-5_28
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DOI: https://doi.org/10.1007/978-3-031-21065-5_28
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