AutoC2X-AW

AutoC2X is cooperative awareness driving software, extension for Autoware and OpenC2X. AutoC2X-AW is extension for Autoware. If you find this code useful in your research, please consider citing :

@inproceedings{Tsukada2020,
    title = {AutoC2X: Open-source software to realize V2X cooperative perception among autonomous vehicles},
    author = {Manabu Tsukada and Takaharu Oi and Akihide Ito and Mai Hirata and Hiroshi Esaki},
    year = {2020},
    date = {2020-10-04},
    booktitle = {The 2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall)},
    address = {Victoria, B.C., Canada}
}

@article{Tsukada2020b,
    title = {Networked Roadside Perception Units for Autonomous Driving},
    author = {Manabu Tsukada and Takaharu Oi and Masahiro Kitazawa and Hiroshi Esaki},
    url = {https://www.mdpi.com/1424-8220/20/18/5320},
    doi = {10.3390/s20185320},
    issn = {1424-8220},
    year = {2020},
    date = {2020-09-17},
    journal = {MDPI Sensors},
    volume = {20},
    number = {18}
}

Description

Autoware is open-source autonomous driving software. OpenC2X is open-source cooperative ITS software, able to communicate with other vehicles following ITS-G5. AutoC2X is an extension for Autoware and OpenC2X. Using this software, you can get other vehicle information run by Autoware.

AutoC2X-OC

AutoC2X-AW collaborate with AutoC2X-OC at router. So you should install and run AutoC2X-OC in router.

Requirement

autoware (ROS)
libboost
libproj
- apt-get install libproj-dev

Usage

edit CMakeLists.txt

change "include_directories" to your environment

build

mkdir build
cd build
cmake ..
make all

hardware Setup

In AutoC2X, each vehicle is supposed to equip one laptop and one router. Autoware and AutoC2X-AW is running in laptop. AutoC2X-OC is running in router.

network setup

You should allocate IPv4 address to laptops and routers. Below image is example.

how to run

You should start AutoC2X below order.

Start AutoC2X-AW at receiver laptop <- # ./autoware_pub -r <router's ipv4 address>
Start AutoC2X-OC at receiver router
Start AutoC2X-OC at sender router
Start AutoC2X-AW at sender laptop <- # ./autoware_pub -s <router's ipv4 address>

cd build/
./autoware_pub [-r|-s] <router's ipv4 address>

You may have to be superuser.

esakilab/AutoC2X-AW