APIKS: A Modular ROS2 Framework for Rapid Prototyping and Validation of Automated Driving Systems

TL;DR

APIKS is a modular ROS2-based framework that enables rapid prototyping and validation of autonomous driving systems, focusing on small-scale proofs of concept to improve development efficiency and safety testing.

Contribution

The paper introduces APIKS, a simplified, standards-based, modular framework for rapid autonomous vehicle software prototyping and validation within software-defined vehicles.

Findings

Effective rapid prototyping demonstrated with a Construction Zone Assist system

Simplified architecture facilitates early-stage development and testing

Supports small-scale proofs of concept for autonomous driving functions

Abstract

Automated driving technologies promise substantial improvements in transportation safety, efficiency, and accessibility. However, ensuring the reliability and safety of Autonomous Vehicles in complex, real-world environments remains a significant challenge, particularly during the early stages of software development. Existing software development environments and simulation platforms often either focus narrowly on specific functions or are too complex, hindering the rapid prototyping of small proofs of concept. To address this challenge, we have developed the APIKS automotive platform, a modular framework based on ROS2. APIKS is designed for the efficient testing and validation of autonomous vehicle software within software-defined vehicles. It offers a simplified, standards-based architecture designed specifically for small-scale proofs of concept. This enables rapid prototyping without the overhead associated with comprehensive platforms. We demonstrate the capabilities of APIKS through an exemplary use case involving a Construction Zone Assist system, illustrating its effectiveness in facilitating the development and testing of autonomous vehicle functionalities.