Overview#
This document elaborates the hardware and software configurations for using Autoware for autonomous driving. Hence, it will serve as a guideline to select hardware and software components to build autonomous vehicles. However, this document is NOT prepared as neither step-by-step instructions nor Q&A books, which will be provided as a reference link if available.
Design Overview#
Who should read#
One is interested in building your small size autonomous vehicles and looks for the place to start with.
References and Resources#
- Complete Go-Kart with Autoware documents: link
-
ROS 2 Foxy setup and autonomous code: link
-
ROS 2 Humble setup and autonomous code: Link
-
STM32 nucleo controller code: link
Contributors#
- Autoware Center of Excellence (under Prof. Rahul Mangharam)
Targeted Use Cases#
| Use Cases: | Education | Racing | PoC | Open AD Kit | Commercial Services/Production |
|---|---|---|---|---|---|
| Go-Kart |
ODD#
| ODD | Cargo | Bus | RoboTaxi | Low Speed (Utility) Vehicle | Delivery Robot |
|---|---|---|---|---|---|
| Go-Kart |
Automation Level#
| Automation Level | 0 | 1 | 2 | 3 | 4 | 5 |
|---|---|---|---|---|---|---|
| Go-Kart |
System Architecture#
Autonomous Go-Kart is a one-third scale autonomous go-kart autonomous vehicle for development and prototyping purpose. It can be used for developing and testing software components in Autoware.
Hardware Configuration#
Chassis#
- TopKart: link to purchase
Sensors#
- Lidar: Ouster LIDAR OS1 and Velodyne M1600
- Camera: OAK-D camera
- GNSS: RTK-GNSS
Computing Platforms#
- X86 laptop with nVidia GPU
Software Configuration#
