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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
Support
Simulink Model
Support
Toolbox
Detection ACF Detector Detecting people using aggregate channel features (ACF). X X Computer Vision System Toolbox
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

  1. 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

  2. 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

  3. 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.