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Apollo Autobox Control

This project contributes

  • a C-implemenation of Apollo's bridge module to be evaluated on a dSpace Micro Autobox rapid prototyping platform, see modules/bridge_c,
  • a trajectory tracking controller for Apollo's ADCTrajectories,
  • the CAN interfacing for a Passat GTE vehicle, as a Simulink model.

Prerequisites

  • Install the protoc-c compiler for windows either building protobuf-c from source via cmake (https://github.com/protobuf-c/protobuf-c) or install eg. Msys2 (https://www.msys2.org/) and install a prebuild version. Then execute the tools/generate_proto_c.bat to generate the *.pb-c.c/h files from the proto definitions. The hack solution: generate the files in Linux and copy them to Windows.
  • Install MATLAB, Simulink, Stateflow
  • Intall the dSpace toolchain (we use the CAN Blockset and the UDP Ethernet Blockset)

Setup

  • Matlab root path shall be modules/autobox_control
  • Execute startup.m
  • Build the model for dSapce via build_rti1401.m

Details

Details on the methodology can be found in our paper:

T. Kessler et al., "Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving," 2019 IEEE Intelligent Vehicles Symposium (IV), Paris, France, 2019, pp. 1612-1619, doi: 10.1109/IVS.2019.8813784.