用1:10比例迷你车搭建开源车联网实验平台，支持真实交通场景测试。
Open-Source Based and ETSI Compliant Cooperative, Connected, and Automated Mini-Cars
- 用微型车+ROS2+OScar构建开源车联网系统
- 实现符合ETSI标准的碰撞预警功能，验证平台可行性
- 适合智能交通研究者低成本开展实地实验
汽车工业正从人工驾驶迈向完全自动化、联网化与协同化。在此进程中，新型协同算法与协议需在实际环境中测试，但高昂成本常成阻碍。为此，本文提出使用1:10比例的协同自动驾驶迷你车作为中间实验平台。车辆搭载Jetson Orin运行ROS2，配备传感器用于自主操作，并通过树莓派运行开源的Open Stack for Car（OScar）实现通信。关键在于OScar实现了完整的ETSI C-ITS合规协议栈。通过实现并验证首个日间路口碰撞预警（Day-1 ICW）应用，证明了该平台的可行性和潜力。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。