Extensive testing is necessary to ensure the safety of autonomous driving modules. In addition to component tests, the safety assessment of individual modules also requires a holistic view at system level, which can be carried out efficiently with the help of simulation. Achieving seamless compatibility between a modular software stack and simulation is complex and poses a significant challenge for many researchers. To ensure testing at the system level with state-of-the-art AV software and simulation software, we have developed and analyzed a bridge connecting the CARLA simulator with the AV software Autoware Core/Universe. This publicly available bridge enables researchers to easily test their modules within the overall software. Our investigations show that an efficient and reliable communication system has been established. We provide the simulation bridge as open-source software at https://github.com/TUMFTM/Carla-Autoware-Bridge

翻译：为确保自动驾驶模块的安全性，广泛测试必不可少。除组件测试外，单个模块的安全性评估还需从系统层面进行整体考量，这一过程可借助仿真高效实现。然而，实现模块化软件栈与仿真系统间的无缝兼容性颇为复杂，对众多研究者构成重大挑战。为利用最先进的自动驾驶软件与仿真软件开展系统级测试，我们开发并分析了一个连接CARLA仿真器与AV软件Autoware Core/Universe的桥梁。这一公开可用的桥梁使研究者能够便捷地测试其模块在整体软件环境中的表现。我们的研究表明，已建立起一套高效可靠的通信系统。我们以开源形式提供该仿真桥梁，代码发布于 https://github.com/TUMFTM/Carla-Autoware-Bridge