https://github.com/esakilab/AutoC2X-AW

https://github.com/esakilab/AutoC2X-AW

Last synced: 19 days ago
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• Host: GitHub
• URL: https://github.com/esakilab/AutoC2X-AW
• Owner: esakilab
• Created: 2019-12-04T11:16:36.000Z (almost 5 years ago)
• Default Branch: develop
• Last Pushed: 2021-02-16T02:11:16.000Z (over 3 years ago)
• Last Synced: 2024-08-01T05:12:13.191Z (4 months ago)
• Language: C++
• Size: 162 KB
• Stars: 28
• Watchers: 27
• Forks: 5
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

        
# AutoC2X-AW

![movie](https://user-images.githubusercontent.com/23014935/76400182-39570c00-63c3-11ea-81cb-a6b84179406d.gif)

AutoC2X is cooperative awareness driving software, extension for Autoware and OpenC2X. AutoC2X-AW is extension for Autoware. If you find this code useful in your research, please consider citing :

    @inproceedings{Tsukada2020,

        title = {AutoC2X: Open-source software to realize V2X cooperative perception among autonomous vehicles},

        author = {Manabu Tsukada and Takaharu Oi and Akihide Ito and Mai Hirata and Hiroshi Esaki},

        year = {2020},

        date = {2020-10-04},

        booktitle = {The 2020 IEEE 92nd Vehicular Technology Conference (VTC2020-Fall)},

        address = {Victoria, B.C., Canada}

    }

    

    @article{Tsukada2020b,

        title = {Networked Roadside Perception Units for Autonomous Driving},

        author = {Manabu Tsukada and Takaharu Oi and Masahiro Kitazawa and Hiroshi Esaki},

        url = {https://www.mdpi.com/1424-8220/20/18/5320},

        doi = {10.3390/s20185320},

        issn = {1424-8220},

        year = {2020},

        date = {2020-09-17},

        journal = {MDPI Sensors},

        volume = {20},

        number = {18}

    }

## Description

[Autoware](https://gitlab.com/autowarefoundation/autoware.ai) is open-source autonomous driving software. [OpenC2X](https://www.ccs-labs.org/software/openc2x/) is open-source cooperative ITS software, able to communicate with other vehicles following ITS-G5. AutoC2X is an extension for Autoware and OpenC2X. Using this software, you can get other vehicle information run by Autoware. 

## AutoC2X-OC

AutoC2X-AW collaborate with [AutoC2X-OC](https://github.com/esakilab/AutoC2X-OC) at router. So you should install and run AutoC2X-OC in router.

## Requirement

- autoware (ROS)

- libboost

- libproj

    - apt-get install libproj-dev

## Usage

### edit CMakeLists.txt

change "include_directories" to your environment

### build

```

mkdir build

cd build

cmake ..

make all

```

### hardware Setup

In AutoC2X, each vehicle is supposed to equip one laptop and one router. Autoware and AutoC2X-AW is running in laptop. AutoC2X-OC is running in router.

![hardware](https://user-images.githubusercontent.com/23014935/76481753-b59a2f80-6455-11ea-9134-4b5376bf75c4.png)

### network setup

You should allocate IPv4 address to laptops and routers. Below image is example.

![network](https://user-images.githubusercontent.com/23014935/76482009-50930980-6456-11ea-9155-3abf0788592b.png)

### how to run

You should start AutoC2X below order.

1. Start AutoC2X-AW at receiver laptop <- # ./autoware_pub -r 

2. Start AutoC2X-OC at receiver router

3. Start AutoC2X-OC at sender router

4. Start AutoC2X-AW at sender laptop <- # ./autoware_pub -s 

```

cd build/

./autoware_pub [-r|-s] 

```

You may have to be superuser.