论文标题
Avstack：一个自动驾驶汽车开发的开源，可重新配置的平台
AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development
论文作者
论文摘要
自动驾驶汽车（AV）的开拓者承诺将彻底改变驾驶体验和驾驶安全性。但是，AV中的里程碑的实质性比预测慢。两种罪魁祸首是（1）提议的最先进的AV组件缺乏可验证性，以及（2）进行下一个级别评估的停滞，例如车辆到基础设施（V2I）和多机构协作。在某种程度上，进度受到了：AV中的大量软件，多个不同的惯例，跨数据集和模拟器进行测试的困难以及最先进的AV组件的僵化性。为了应对这些挑战，我们提出了Avstack，这是一个用于AV设计，实现，测试和分析的开源，可重新配置的软件平台。 Avstack通过在数据集和基于物理的模拟器上启用首个贸易研究来解决验证问题。 Avstack将停滞问题作为一个可重新配置的AV平台，建立在高级编程语言中的数十个开源AV组件上。我们通过多个基准数据集和V2I-Collaboration案例研究来证明Avstack通过纵向测试的力量，这些案例研究探讨了设计多传感器，多代理算法的权衡。
Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two culprits are (1) the lack of verifiability of proposed state-of-the-art AV components, and (2) stagnation of pursuing next-level evaluations, e.g., vehicle-to-infrastructure (V2I) and multi-agent collaboration. In part, progress has been hampered by: the large volume of software in AVs, the multiple disparate conventions, the difficulty of testing across datasets and simulators, and the inflexibility of state-of-the-art AV components. To address these challenges, we present AVstack, an open-source, reconfigurable software platform for AV design, implementation, test, and analysis. AVstack solves the validation problem by enabling first-of-a-kind trade studies on datasets and physics-based simulators. AVstack solves the stagnation problem as a reconfigurable AV platform built on dozens of open-source AV components in a high-level programming language. We demonstrate the power of AVstack through longitudinal testing across multiple benchmark datasets and V2I-collaboration case studies that explore trade-offs of designing multi-sensor, multi-agent algorithms.
