Components

Open AD Kit is a component based project, which means that it is designed to be deployed on a variety of platforms with microservices architecture. Each Autoware component is designed to be independent and can be configured to work together to achieve a particular task, such as a planning simulation or a full autonomous driving stack for a specific vehicle.

Autoware Components

Sensing

The sensing component is responsible for collecting data from the vehicle's sensors. Sensing component 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 component is responsible for processing the data from the vehicle's sensors and creating a map of the environment. Perception component 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 component is responsible for creating a map of the environment. Mapping component 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 component is responsible for determining the vehicle's position in the map. Localization component 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 component is responsible for planning the vehicle's path. Planning component 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 component is responsible for controlling the vehicle's actuators. Control component 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 component is responsible for managing the vehicle's state. Vehicle component 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 component is responsible for managing the vehicle's system. System component can be configured to use a variety of system algorithms, including system health monitoring and system error handling.

API

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