Autoware全体像とノード構造の説明 (2024.03)
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The overall structure of Autoware will be explained using a node diagram. The data flow from sensor data input to vehicle control command output is traced to understand how Autoware achieves autonomous driving.
Autoware is an open-source software for self-driving vehicles.
https://github.com/autowarefoundation/autoware
◆Contents
1. Introduction (0:00)
2. Related documents (0:33)
3. Node viewer (3:14)
4. Explanation of Autoware (as of 2024.03)
・Overview (15:15)
・Sensing (19:57)
・Localization, Map (30:27)
・Perception (43:03)
・Planning (1:16:25)
・Control (1:23:20)
◆Links
・Architecture diagram: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/
・Node diagram: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-architecture/node-diagram/
・The specifics of each component: https://autowarefoundation.github.io/autoware.universe/main/
・Node viewer: https://github.com/iwatake2222/dear_ros_node_viewer
・Architecture files: https://github.com/iwatake2222/dear_ros_node_viewer/issues/13
◆Tags
#Autoware
#AutonomousDriving
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