Services

Open AD Kit is a micro-service based project, which means that it is designed to be deployed on a variety of platforms with microservices architecture. Each service is designed to be independent and can be deployed on a variety of platforms.

Autoware Services

Sensing

The sensing service is responsible for collecting data from the vehicle's sensors. Sensing service can be configured to collect data from a variety of sensors, including cameras, lidars, and radars. For more details on the Autoware sensing design document.

Perception

The perception service is responsible for processing the data from the vehicle's sensors and creating a map of the environment. Perception service can be configured to use a variety of perception algorithms, including object detection, tracking, and mapping. For more details on the Autoware perception design document.

Mapping

The mapping service is responsible for creating a map of the environment. Mapping service can be configured to use a variety of mapping algorithms, including occupancy grid mapping and point cloud mapping. For more details on the Autoware mapping design document.

Localization

The localization service is responsible for determining the vehicle's position in the map. Localization service can be configured to use a variety of localization algorithms, including GPS, IMU, and visual odometry. For more details on the Autoware localization design document.

Planning

The planning service is responsible for planning the vehicle's path. Planning service can be configured to use a variety of planning algorithms, including Route Planning, Goal Planning, and Behavior Planning. For more details on the Autoware planning design document.

Control

The control service is responsible for controlling the vehicle's actuators. Control service can be configured to use a variety of control algorithms, including PID and MPC. For more details on the Autoware control design document.

Vehicle

The vehicle service is responsible for managing the vehicle's state. Vehicle service can be configured to use a variety of vehicle algorithms, including vehicle state estimation and vehicle control. For more details on the Autoware vehicle design document.

System

The system service is responsible for managing the vehicle's system. System service can be configured to use a variety of system algorithms, including system health monitoring and system error handling. For more details on the Autoware system design document.

API

The API service is responsible for providing AD API interface for the vehicle's state. API service can be configured to enable/disable various interfaces. For more details on the Autoware interfaces design document.