Open-Source Based and ETSI Compliant Cooperative, Connected, and Automated Mini-Cars
Authors: Lorenzo Farina, Federico Gavioli, Salvatore Iandolo, Francesco Moretti, Giuseppe Perrone, Matteo Piccoli, Francesco Raviglione, Marco Rapelli, Antonio Solida, Paolo Burgio, Carlo Augusto Grazia, Alessandro Bazzi
Organizations: DEI, Università di Bologna, 40136 Bologna, Italy · National Laboratory of Wireless Communications (WiLab), CNIT, 40136 Bologna, Italy · DIEF, University of Modena and Reggio Emilia, 41125 Modena, Italy · Dipartimento di Automatica e Informatica, Politecnico di Torino, 10129 Torino, Italy · Dipartimento di Elettronica e Telecomunicazioni, Politecnico di Torino, 10129 Torino, Italy
The automotive sector is following a revolutionary path from vehicles controlled by humans to vehicles that will be fully automated, fully connected, and ultimately fully cooperative. Along this road, new cooperative algorithms and protocols will be designed and field tested, which represents a great challenge in terms of costs. In this context, in particular, moving from simulations to practical experiments requires huge investments that are not always affordable and may become a barrier in some cases. To solve this issue and provide the community with an intermediate step, we here propose the use of 1:10 scaled cooperative, autonomous, and connected mini-cars. The mini-car is equipped with a Jetson Orin board running the open Robot Operating System 2 (ROS2), sensors for autonomous operations, and a Raspberry Pi board for connectivity mounting the open source Open Stack for Car (OScar). A key aspect of the proposal is the use of OScar, which implements a full ETSI cooperative-intelligent transport systems (C-ITS) compliant stack. The feasibility and potential of the proposed platform is here demonstrated through the implementation of a case study where the Day-1 intersection collision warning (ICW) application is implemented and validated.
Figures & tables
Fig. 1 : Cooperative, connected and automated mini-car, equipped with the low-cost OBU.
Fig. 2 : Block scheme of the hardware components.
Fig. 3 : Block diagram of the OScar stack and its main functional components
Device
Details
Cost
F1tenth
Chassis
Radio-controlled Traxxas mini-car
450 €
Core control unit
Jetson Orin Nano Super/NX
350/800 €
SD and SSD cards
Memories for the control unit
30 €
LiDAR
2D Hokuyo UST-10LX
1500 €
VESC
Car mobility controller with inertial sensor
250 €
TABLE I : List of hardware components and indicative prices.
Fig. 4 : Environment used to test the applications.
Fig. 5 : Screenshot of the map with red points illustrating the position of mini-car A as indicated in its transmitted CAM .
Fig. 6 : External and on-board views of three experimental phases. (a–-c) External camera snapshots of the three phases: mini-car A away from the intersection area, approaching the intersection area and crossing the intersection area, respectively. (d–-f) Corresponding on-board (vehicle perspective) views for the same phases.
Autonomous driving develops vehicles that perceive road scenes, predict interactions, and plan and control safe movement with limited or no human input.