Abstract
Autonomous vehicle safety and reliability are the paramount requirements when developing autonomous vehicles. These requirements are guaranteed by massive functional and performance tests. Conducting these tests on real vehicles is extremely expensive and time consuming, and thus it is imperative to develop a simulation platform to perform these tasks. For simulation, we can utilize the Robot Operating System (ROS) for data playback to test newly developed algorithms. However, due to the massive amount of simulation data, performing simulation on single machines is not practical. Hence, a high-performance distributed simulation platform is a critical piece in autonomous driving development. In this paper we present our experiences of building a production distributed autonomous driving simulation platform. This platform is built upon Spark distributed framework, for distributed computing management, and ROS, for data playback simulations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Liu, S., Peng, J., Gaudiot, J.L.: Computer, drive My car! Computer 50(1), 8 (2017)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source robot operating system. In: ICRA Workshop on Open Source Software, vol. 3(3.2), p. 5, May 2009
Zaharia, M., Chowdhury, M., Franklin, M.J., Shenker, S., Stoica, I.: Spark: cluster computing with working sets. HotCloud 10(10–10), 95 (2010)
IPG Automotive GmbH: IPG CarMaker (2009). http://www.ipg.de/carmaker.html
TESIS Gesellschaft für Technische Simulation und Software mbH: TESIS DYNAware (2009). http://www.tesis.de/en/index.php?page=1004
Schabenberger, R.: ADTF: framework for driver assistance and safety systems. In: VDI Wissensforum IWB GmbH (ed.) Integrierte Sicherheit und Fahrerassistenzsysteme, 2000, pp. 701–710. VDI-Gesellschaft Fahrzeug- und Verkehrstechnik (2007)
von Neumann-Cosel, K., Dupuis, M., Weiss, C.: Virtual test drive - provision of a consistent tool-set for [D,H,S,V]-in-the-loop. In: Proceedings on Driving Simulation Conference (2009)
Gietelink, O., Ploeg, J., Schutter, B.D., Verhaegen, M.: Testing advanced driver assistance systems for fault management with the VEHIL test facility. In: Proceedings of the 7th International Symposium on Advanced Vehicle Control, pp. 579–584 (2004)
Schonlau, B.: Test und Absicherung von Funktionen mit synthetischen Umfeld- und Fahrzeugeigendaten. In: Gesamtzentrum für Verkehr Braunschweig e.V. (ed.) AAET 2009 – Automatisierungssysteme, Assistenzsysteme und eingebettete Systeme für Transportmittel, vol. 10, pp. 109–121 (2009)
Gu, T., Dolan, J.M.: A Lightweight Simulator for Autonomous Driving Motion Planning Development, p. 94 (2015)
Liu, S., Tang, J., Wang, C., Wang, Q., Gaudiot, J.L.: Implementing a Cloud Platform for Autonomous Driving. arXiv preprint: arXiv:1704.02696
Geiger, A., Lenz, P., Stiller, C., Urtasun, R.: Vision meets robotics: the KITTI dataset. Int. J. Robot. Res. 32(11), 1231–1237 (2013)
White, T.: Hadoop: The Definitive Guide. O’Reilly Media, Inc., Sebastopol (2012)
Shvachko, K., Kuang, H., Radia, S., Chansler, R.: The hadoop distributed file system. In: 2010 IEEE 26th Symposium on Mass Storage Systems and Technologies (MSST), pp. 1–10. IEEE, May 2010
Liang, S.: The Java Native Interface: Programmer’s Guide and Specification. Addison-Wesley Professional, Reading
Bovet, D.P., Cesati, M.: Understanding the Linux Kernel: From I/O Ports to Process Management. O’Reilly Media, Inc., Sebastopol (2005)
Liu, S., Tang, J., Zhang, Z., Gaudiot, J.L.: CAAD: Computer Architecture for Autonomous Driving (2017). arXiv preprint: arXiv:1702.01894
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Tang, J., Liu, S., Wang, C., Liu, C. (2017). Distributed Simulation Platform for Autonomous Driving. In: Peng, SL., Lee, GL., Klette, R., Hsu, CH. (eds) Internet of Vehicles. Technologies and Services for Smart Cities. IOV 2017. Lecture Notes in Computer Science(), vol 10689. Springer, Cham. https://doi.org/10.1007/978-3-319-72329-7_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-72329-7_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-72328-0
Online ISBN: 978-3-319-72329-7
eBook Packages: Computer ScienceComputer Science (R0)