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Blueprint overview/Introduction

Autoware is the world's first "all-in-one" open-source software for self-driving vehicles hosted under the Autoware Foundation.

The Autoware.Auto project, based on ROS 2, is the next generation successor of the Autoware.AI project, based on ROS 1.

The major differentiators of Autoware.Auto compared to Autoware.AI are:

1. Modern software engineering best practices including code reviews, continuous integration testing, thorough documentation, thorough test coverage, style and development guides
2. Improved system architecture and module interface design (including messages and APIs)
3. An emphasis on reproducibility and determinism at the library, node, and system levels

Zhuming Zhang Hechun Zhang Hao Zhongwang

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<use case 2>

Autonomous Valet Parking

The Autonomous Valet Parking (AVP) demonstration uses Autoware.Auto to provide a valet parking service in the parking lot ODD.

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Autonomous valet parking

The AVP demonstration uses Autoware.Auto to provide the following functions:

1. Automatically drive a car from a pre-defined drop-off zone (e.g. the entrance to a carpark) to a parking spot indicated by an external system.
2. Park a car in a parking spot, starting in a lane near that parking spot.
3. Drive out of a parking spot.
4. Drive to a pre-defined pick-up zone (e.g. the exit from a carpark).
5. Automatically stop for obstacles while achieving the above.

<use case 3>

Where on the Edge

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< This section will use the Akraino architecture document as reference>

System architecture for the AVP ODD

The system architecture that was developed to address the AVP ODD in Autoware.Auto is given below:

Autoware.Auto AVP Architecture

Prerequisites

To run this demo, you will need to provide the following.

• A point cloud map of a carpark, for localisation.
• A HDMap (vector map) of a carpark, for navigation.
• A simulated world of a carpark, if the demo will be run on a simulator.
• A simulated version of your car.

A sample carpark is available, based on a real single-level carpark in San Jose, California.

A sample car is available, based on a real-life vehicle used by many members of the Autoware Foundation.

Platform Architecture

<Hardware components should be specified with model numbers, part numbers etc>

The physical AVP demo was tested with a Lexus RX 450h with

• the Pacmod 3.0 DBW interface
• 2 Velodyne VLP-32Cs
• an AutonomouStuff Spectra industrial PC.
• the AutonomouStuff Speed and Steering Control (SSC) software.

Software Platform Architecture

<Software components with version/release numbers >

 AVP Simulation

The simulation AVP demo was tested with hardware that satisfies requirements for the LGSVL simulator. To run the LGSVL simulator, you will need an NVIDIA graphics card. Additional information about requirements can be found here.

<EDGE Interface>

<ETSI MEC Interaction>

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Hardware and Software Management

Physical demo

The physical AVP demo was tested with a Lexus RX 450h with

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Licensing

• GNU/common license