Development of localisation and mapping software for autonomous cars

Development of localisation and mapping software for autonomous cars

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Autonomous car requires localisation and mapping capabilities to model the surrounding environment and to plan a safe and efficient route for the autonomous driving. Implementation of the localisation and mapping software depends on the type of sensors, map formats, computing environment, and processing algorithms. These dependencies make it difficult to extend, reuse, and maintain localisation and mapping software. The common software platform and software development guideline is a way to address the software dependency issues and to enhance the software reusability, scalability, maintainability, and transferability. Therefore, this study proposes a common software platform and implementation guidelines for localisation and mapping of autonomous cars. The common software platform for localisation and mapping is built on the philosophy of the AUTomotive Open System Architecture (AUTOSAR), which is a standard automotive software platform. The software development methodology of AUTOSAR applies to implementation guidelines of the localisation and mapping software. A graph structure of localisation and mapping is used to design the common software platform. The proposed common software platform and design methodology are evaluated using practical applications of localisation and mapping in a real autonomous car. The results show that the proposed platform and methodology are able to improve the reusability, scalability, maintainability, and transferability of the localisation and mapping software.

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