JKU-ITS Automobile for Research on Autonomous Vehicles

TL;DR

This paper introduces a new research platform for autonomous vehicles based on a Toyota RAV4 hybrid SUV equipped with diverse sensors and open-source software, enabling advanced research in autonomous driving and human-vehicle interaction.

Contribution

The paper presents a comprehensive autonomous vehicle research platform integrating sensors, open-source control software, and computing hardware for diverse autonomous vehicle studies.

Findings

Platform successfully integrates multiple sensors and software for autonomous driving research.

Enables studies on human-vehicle interaction and energy consumption.

Supports various autonomous vehicle research domains.

Abstract

In this paper, we present our brand-new platform for Automated Driving research. The chosen vehicle is a RAV4 hybrid SUV from TOYOTA provided with exteroceptive sensors such as a multilayer LIDAR, a monocular camera, Radar and GPS; and proprioceptive sensors such as encoders and a 9-DOF IMU. These sensors are integrated in the vehicle via a main computer running ROS1 under Linux 20.04. Additionally, we installed an open-source ADAS called Comma Two, that runs Openpilot to control the vehicle. The platform is currently being used to research in the field of autonomous vehicles, human and autonomous vehicles interaction, human factors, and energy consumption.