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Autoware Toolbox
Autoware Toolbox is a MATLAB/Simulink sample code suite for Autoware. Autoware provides a rich set of self-driving modules composed of sensing, computing, and actuation capabilities. By using this samples, several applications can be used from MATLAB/Simulink.
Requirements
- Preinstallation of Autoware (here)
- MATLAB/Simulink
- Robotics System Toolbox
- Computer Vision System Toolbox (optional)
- Image Processing Toolbox (optional)
Release Compatibility
Autoware Messages
Autoware 1.8.0
MATLAB/Simulink
Created with R2018b
Provided Samples
| module | node | Description | MATLAB Code<br>Support | Simulink Model<br>Support | Toolbox |
|---|---|---|---|---|---|
| Detection | ACF Detector | Detecting people using aggregate channel features (ACF). | X | X | Computer Vision System Toolbox<br>Image Processing Toolbox |
| LiDAR Euclidean Track | X | ||||
| Vision Dummy Track | X | X | |||
| Localization | Vel pose connect | Determining the velocity and pose of the vehicle. | X | X | |
| Mission Planning | Lane Stop | Selecting waypoints according to the signal color. | X | X | |
| Lane Rule | Generating waypoints corresponding to signal color. | ||||
| Motion Planning | Path Select | Generating final waypoints from temporal waypoints. | X | X | |
| Pure Pursuit | Generating the actuation commands for the autonomous vehicle. | X | |||
| Twist filter | Filtering the received actuation command. | X | |||
| Wf Simulator | X | ||||
| Filters | Voxel Grid Filter | Downsampling point cloud using a voxel grid filter. | X | Computer Vision System Toolbox | |
| Random Filter | Downsampling point cloud with random sampling and without replacement. | X | Computer Vision System Toolbox | ||
| Nonuniform Voxel Grid Filte | Downsampling point cloud using nonuniform voxel grid filter. | X | Computer Vision System Toolbox | ||
| Fog rectification | Producing defogged image. | X |
Preparation for use with MATLAB
Documentation
Research Papers for Citation
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Keita Miura, Shota Tokunaga, Noriyuki Ota, Yoshiharu Tange and Takuya Azumi, ``Autoware Toolbox: MATLAB/Simulink Benchmark Suite for ROS-based Self-driving Software Platform,'' In Proceedings of the 30th International Workshop on Rapid System Prototyping (RSP), New York, USA, Oct. 2019. Link
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Shota Tokunaga, Yuki Horita, Yasuhiro Oda and Takuya Azumi, ``IDF-Autoware: Integrated Development Framework for ROS-based Self-driving Systems Using MATLAB/Simulink,'' In Proceedings of the Workshop of Autonomous Systems Design (ASD2019), Florence, Italy, Mar. 2019. Link
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Shota Tokunaga, Noriyuki Ota, Yoshiharu Tange, Keita Miura, and Takuya Azumi, ``Demo Abstract: MATLAB/Simulink Benchmark Suite for ROS-based Self-driving System,'' Demo Session of the 10th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS2019), Montreal, Canada, Apr. 2019.