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Authors: Jorin Kouril 1 ; Bernd Schäufele 1 ; Ilja Radusch 2 and Bettina Schnor 3

Affiliations: 1 Fraunhofer Institute for Open Communication Systems (FOKUS), Berlin, Germany ; 2 Daimler Center for Automotive Information Technology Innovations (DCAITI), Berlin, Germany ; 3 Department of Computer Science, University of Potsdam, Potsdam, Germany

Keyword(s): Automated Driving, Intelligent Vehicles, Performance Evaluation, Intelligent Transport Systems.

Abstract: Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving functions for certain domains are already commercially available, ubiquitous automated driving in complex scenarios remains a subject of ongoing research. Contrarily to single-purpose Electronic Control Units, the software for automated driving is often executed on high performance PCs. The Robot Operating System 2 (ROS2) is commonly used to connect components in an automated driving system. Due to the time critical nature of automated driving systems, the performance of the framework is especially important. In this paper, a thorough performance evaluation of ROS2 is conducted, both in terms of timeliness and error rate. The results show that ROS2 is a suitable framework for automated driving systems.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Kouril, J.; Schäufele, B.; Radusch, I. and Schnor, B. (2024). Performance Evaluation of a ROS2 Based Automated Driving System. In Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-703-0; ISSN 2184-495X, SciTePress, pages 52-63. DOI: 10.5220/0012556800003702

@conference{vehits24,
author={Jorin Kouril. and Bernd Schäufele. and Ilja Radusch. and Bettina Schnor.},
title={Performance Evaluation of a ROS2 Based Automated Driving System},
booktitle={Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2024},
pages={52-63},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012556800003702},
isbn={978-989-758-703-0},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Performance Evaluation of a ROS2 Based Automated Driving System
SN - 978-989-758-703-0
IS - 2184-495X
AU - Kouril, J.
AU - Schäufele, B.
AU - Radusch, I.
AU - Schnor, B.
PY - 2024
SP - 52
EP - 63
DO - 10.5220/0012556800003702
PB - SciTePress

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