Integration of PRODRIVER® with Autoware

[maxime-clem]

TIER IV, in collaboration with AWF partner Embotech, recently concluded a project to integrate PRODRIVER® with Autoware. PRODRIVER® is a solution for autonomous navigation, path planning, tracking and control that is designed to be integrated in autonomous driving stacks.

The results from this project were presented at a previous software working group (slides) and we made the following repository public: https://github.com/tier4/embotech_prodriver_connector
This repository contains the code and instructions to integrate PRODRIVER® with Autoware and replace the default planner and (optionally) controller of Autoware. The repository also contains a report that presents the project in more details, showing some experimental results, and explaining the steps that were needed for the integration.
We hope that this project will help current users of PRODRIVER® with getting started with Autoware.
Moreover, since this project showcases the ease of integrating an external component with Autoware, we hope that more similar projects will be conducted in the future.

[doganulus]

Hi Maxime, the integration of complex pieces always sounds great.

How can I find more information about test process, test scenarios, test properties you have been looking in simulation traces? These are from the ODD scenarios?

[maxime-clem]

Tests were performed using TIER IV's own test vehicle and scenarios which cannot be shared publicly. If you own a PRODRIVER® licence, you can reproduce similar tests following the instructions from the repository. If you want to use the scenario simulator, there are a few extra steps needed to make the integration work. If needed I can write instructions on the additional changes needed.
Many of the simulation scenarios we used in our tests are similar to the AWF and OpenAD Kit scenarios that can be accessed on https://evaluation.tier4.jp/ (a free account is needed).