Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle platform, designed with connectivity, ease of use and modularity in mind, both in hardware and software. It is based on the Kia Soul EV with a modified version of the Open-Source Car Control (OSCC) drive-by-wire module, uses the open-source Robot Operating System (ROS and ROS 2) in its software architecture, and provides a straightforward solution for transitioning from simulations to real-world tests. We demonstrate the effectiveness of the platform through a synchronised driving test, where sensor data is exchanged wirelessly, and a model-predictive controller is used to actuate the automated vehicle.

翻译：为自动化车辆增加无线检测并响应车载传感器无法提前感知的外部事件的能力，对于开发基于环境感知的驾驶策略至关重要。为此，我们提出了一种在硬件和软件设计上均注重互联性、易用性与模块化的自动化车辆平台。该平台基于起亚Soul EV车型，采用开源汽车控制（OSCC）线控驱动模块的改进版本，在软件架构中使用开源机器人操作系统（ROS与ROS 2），并提供从仿真测试平滑过渡到实际道路测试的便捷方案。我们通过同步驾驶测试验证了该平台的有效性——在该测试中，传感器数据通过无线方式交换，并由模型预测控制器对自动化车辆进行驱动控制。