AutoDRRT is an autonomous driving framework developed based on the Autoware open-source framework, with targeted optimizations for the EIS400 onboard domain controller. These optimizations enhance the framework's real-time performance, distributability, and fault tolerance. A set of tools is provided to facilitate users in making use of these new features more easily. This framework is built upon the Robot Operating System 2 (ROS2). It encompasses all necessary functionalities from localization and target detection to path planning and control, striving to lower the entry barrier and aiming to involve as many individuals and organizations as possible in the open innovation of autonomous driving technology.
Based on the AutoDRRT framework, IEI secured the dual championship in both simulation and real vehicle races at the 5th Japan Automotive AI Challenge. This solution is tailored for factory scenarios and provides a Level 4 autonomous driving solution.
- Distributed
This framework supports transforming single-node applications into distributed applications with zero code changes.
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Enhanced Real time performance
Significant Reduction in End-to-End Latency Achieved Through Multi-Faceted Optimization Strategies and Hardware-Software Co-design.
The test data corresponds to the 'logging_simulator' scenario used in the Autoware framework -
Fault Tolerance
The framework supports concurrent startup of multiple identical algorithm nodes, capable of receiving and processing data simultaneously. In the event of a primary node failure due to faults, backup nodes seamlessly take over data transmission with millisecond-level switchover time.
The target platforms for AutoDRRT are as follows. There might be changes in future versions of AutoDRRT.
The AutoDRRT Foundation provides support only for the platforms listed below. Other platforms are not supported.
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amd64
Recommend: X86 + NVIDIA GPU (4GB RAM) -
arm64
Recommend: NVIDIA Orin OR NVIDIA Xavier
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NVIDIA Orin
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8-core CPU
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16GB RAM
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NVIDIA GPU (4GB RAM)
Docker ensures that all developers in the project have a consistent development environment. It is recommended for beginners, temporary users, and those unfamiliar with Ubuntu.
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Environmental Requirements
- Ubuntu 22.04