Performance Evaluation of a ROS2 Based Automated Driving System

Jorin Kouril, Bernd Schäufele, Ilja Radusch, Bettina Schnor

2024

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.

Paper Citation

in Harvard Style

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 - Volume 1: VEHITS; ISBN 978-989-758-703-0, SciTePress, pages 52-63. DOI: 10.5220/0012556800003702

in Bibtex Style

@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 - Volume 1: VEHITS},
year={2024},
pages={52-63},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012556800003702},
isbn={978-989-758-703-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 10th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Performance Evaluation of a ROS2 Based Automated Driving System
SN - 978-989-758-703-0
AU - Kouril J.
AU - Schäufele B.
AU - Radusch I.
AU - Schnor B.
PY - 2024
SP - 52
EP - 63
DO - 10.5220/0012556800003702
PB - SciTePress