验证CARLA能否用于自动驾驶硬件在环测试
vEDGAR -- Can CARLA Do HiL?
- 构建vEDGAR框架，实现车载传感器与执行器全栈实时仿真
- 实测表明CARLA可支持自动驾驶软件在专用硬件上的硬件在环测试
- 开源工具链助力自动驾驶算法全流程开发与评估
仿真在自动驾驶功能的研发过程中具有重要意义，广泛应用于算法训练、评估及软件在环测试。主流开源仿真平台如CARLA被普遍用于自动驾驶算法的开发与验证。然而，现有系统缺乏对研究与实际自动驾驶车辆在完整传感器与执行器堆栈下进行实时仿真的评估。本文旨在构建一个仿真框架，使自动化驾驶软件能在其专用硬件上运行，并识别其性能边界。为此，首先梳理需求并设计实现仿真架构，基于此评估vEDGAR软件，最终得出结论：CARLA具备用于自动驾驶车辆硬件在环（HiL）测试的可行性。相关工具已开源：修改版CARLA仓库：https://github.com/TUMFTM/carla，vEDGAR框架：https://github.com/TUMFTM/vEDGAR。
原文摘要 · Abstract (English)
Simulation offers advantages throughout the development process of automated driving functions, both in research and product development. Common open-source simulators like CARLA are extensively used in training, evaluation, and software-in-the-loop testing of new automated driving algorithms. However, the CARLA simulator lacks an evaluation where research and automated driving vehicles are simulated with their entire sensor and actuation stack in real time. The goal of this work is therefore to create a simulation framework for testing the automation software on its dedicated hardware and identifying its limits. Achieving this goal would greatly benefit the open-source development workflow of automated driving functions, designating CARLA as a consistent evaluation tool along the entire development process. To achieve this goal, in a first step, requirements are derived, and a simulation architecture is specified and implemented. Based on the formulated requirements, the proposed vEDGAR software is evaluated, resulting in a final conclusion on the applicability of CARLA for HiL testing of automated vehicles. The tool is available open source: Modified CARLA fork: https://github.com/TUMFTM/carla, vEDGAR Framework: https://github.com/TUMFTM/vEDGAR
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