Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator

Carlos Gómez-Huélamo; Javier Del Egido; Luis M. Bergasa; Rafael Barea; Elena López-Guillén; Felipe Arango; Javier Araluce; Joaquín López

doi:10.1007/978-3-030-62579-5_4

Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator

Carlos Gómez-Huélamo^*
, Javier Del Egido
, Luis M. Bergasa
, Rafael Barea
, Elena López-Guillén
, Felipe Arango
, Javier Araluce
, Joaquín López

^*Corresponding author for this work

University of Alcalá
University of Vigo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

27 Citations (Scopus)

Abstract

This work presents the validation of our fully-autonomous driving architecture in the CARLA open-source simulator, by using some challenging driving scenarios inspired on the CARLA Autonomous Driving Challenge (CADC), focusing on our decision-making layer, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, our ROS (Robot Operating System) based autonomous driving architecture is introduced. Second, the CARLA simulator is described, outlining the steps conducted to merge our architecture with this simulator and the advantages to create ad-hoc driving scenarios for use cases validation. Finally, the paper validates the architecture by means of some challenging driving scenarios such as: Stop, Pedestrian Crossing, Adaptive Cruise Control (ACC) and Unexpected Pedestrian. Some qualitative (video files) and quantitative (trajectory and linear velocity segmented with its corresponding Petri Net states) results are presented for each use case, validating our architecture in simulation as a preliminary stage before implementing it in our real autonomous electric car.

Original language	English
Title of host publication	Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020
Editors	Luis M. Bergasa, Manuel Ocaña, Rafael Barea, Elena López-Guillén, Pedro Revenga
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	44-59
Number of pages	16
ISBN (Print)	9783030625788
DOIs	https://doi.org/10.1007/978-3-030-62579-5_4
Publication status	Published - 2021
Externally published	Yes
Event	21st International Workshop of Physical Agents, WAF 2020 - Alcalá de Henares, Madrid, Spain Duration: 19 Nov 2020 → 20 Nov 2020

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	1285
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	21st International Workshop of Physical Agents, WAF 2020
Country/Territory	Spain
City	Alcalá de Henares, Madrid
Period	19/11/20 → 20/11/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Autonomous vehicles
CARLA
Decision-making
ROS
Simulation
Use cases

Access to Document

10.1007/978-3-030-62579-5_4

Cite this

Gómez-Huélamo, C., Del Egido, J., Bergasa, L. M., Barea, R., López-Guillén, E., Arango, F., Araluce, J., & López, J. (2021). Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator. In L. M. Bergasa, M. Ocaña, R. Barea, E. López-Guillén, & P. Revenga (Eds.), Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020 (pp. 44-59). (Advances in Intelligent Systems and Computing; Vol. 1285). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-62579-5_4

Gómez-Huélamo, Carlos ; Del Egido, Javier ; Bergasa, Luis M. et al. / Train Here, Drive There : Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator. Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020. editor / Luis M. Bergasa ; Manuel Ocaña ; Rafael Barea ; Elena López-Guillén ; Pedro Revenga. Springer Science and Business Media Deutschland GmbH, 2021. pp. 44-59 (Advances in Intelligent Systems and Computing).

@inproceedings{2af000c1c6374398ade07dfe0ff618d4,

title = "Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator",

abstract = "This work presents the validation of our fully-autonomous driving architecture in the CARLA open-source simulator, by using some challenging driving scenarios inspired on the CARLA Autonomous Driving Challenge (CADC), focusing on our decision-making layer, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, our ROS (Robot Operating System) based autonomous driving architecture is introduced. Second, the CARLA simulator is described, outlining the steps conducted to merge our architecture with this simulator and the advantages to create ad-hoc driving scenarios for use cases validation. Finally, the paper validates the architecture by means of some challenging driving scenarios such as: Stop, Pedestrian Crossing, Adaptive Cruise Control (ACC) and Unexpected Pedestrian. Some qualitative (video files) and quantitative (trajectory and linear velocity segmented with its corresponding Petri Net states) results are presented for each use case, validating our architecture in simulation as a preliminary stage before implementing it in our real autonomous electric car.",

keywords = "Autonomous vehicles, CARLA, Decision-making, ROS, Simulation, Use cases",

author = "Carlos G{\'o}mez-Hu{\'e}lamo and \{Del Egido\}, Javier and Bergasa, \{Luis M.\} and Rafael Barea and Elena L{\'o}pez-Guill{\'e}n and Felipe Arango and Javier Araluce and Joaqu{\'i}n L{\'o}pez",

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language = "English",

isbn = "9783030625788",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "44--59",

editor = "Bergasa, \{Luis M.\} and Manuel Oca{\~n}a and Rafael Barea and Elena L{\'o}pez-Guill{\'e}n and Pedro Revenga",

booktitle = "Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020",

address = "Germany",

}

Gómez-Huélamo, C, Del Egido, J, Bergasa, LM, Barea, R, López-Guillén, E, Arango, F, Araluce, J & López, J 2021, Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator. in LM Bergasa, M Ocaña, R Barea, E López-Guillén & P Revenga (eds), Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020. Advances in Intelligent Systems and Computing, vol. 1285, Springer Science and Business Media Deutschland GmbH, pp. 44-59, 21st International Workshop of Physical Agents, WAF 2020, Alcalá de Henares, Madrid, Spain, 19/11/20. https://doi.org/10.1007/978-3-030-62579-5_4

Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator. / Gómez-Huélamo, Carlos; Del Egido, Javier; Bergasa, Luis M. et al.
Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020. ed. / Luis M. Bergasa; Manuel Ocaña; Rafael Barea; Elena López-Guillén; Pedro Revenga. Springer Science and Business Media Deutschland GmbH, 2021. p. 44-59 (Advances in Intelligent Systems and Computing; Vol. 1285).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Train Here, Drive There

T2 - 21st International Workshop of Physical Agents, WAF 2020

AU - Gómez-Huélamo, Carlos

AU - Del Egido, Javier

AU - Bergasa, Luis M.

AU - Barea, Rafael

AU - López-Guillén, Elena

AU - Arango, Felipe

AU - Araluce, Javier

AU - López, Joaquín

PY - 2021

Y1 - 2021

N2 - This work presents the validation of our fully-autonomous driving architecture in the CARLA open-source simulator, by using some challenging driving scenarios inspired on the CARLA Autonomous Driving Challenge (CADC), focusing on our decision-making layer, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, our ROS (Robot Operating System) based autonomous driving architecture is introduced. Second, the CARLA simulator is described, outlining the steps conducted to merge our architecture with this simulator and the advantages to create ad-hoc driving scenarios for use cases validation. Finally, the paper validates the architecture by means of some challenging driving scenarios such as: Stop, Pedestrian Crossing, Adaptive Cruise Control (ACC) and Unexpected Pedestrian. Some qualitative (video files) and quantitative (trajectory and linear velocity segmented with its corresponding Petri Net states) results are presented for each use case, validating our architecture in simulation as a preliminary stage before implementing it in our real autonomous electric car.

AB - This work presents the validation of our fully-autonomous driving architecture in the CARLA open-source simulator, by using some challenging driving scenarios inspired on the CARLA Autonomous Driving Challenge (CADC), focusing on our decision-making layer, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, our ROS (Robot Operating System) based autonomous driving architecture is introduced. Second, the CARLA simulator is described, outlining the steps conducted to merge our architecture with this simulator and the advantages to create ad-hoc driving scenarios for use cases validation. Finally, the paper validates the architecture by means of some challenging driving scenarios such as: Stop, Pedestrian Crossing, Adaptive Cruise Control (ACC) and Unexpected Pedestrian. Some qualitative (video files) and quantitative (trajectory and linear velocity segmented with its corresponding Petri Net states) results are presented for each use case, validating our architecture in simulation as a preliminary stage before implementing it in our real autonomous electric car.

KW - Autonomous vehicles

KW - CARLA

KW - Decision-making

KW - ROS

KW - Simulation

KW - Use cases

UR - https://www.scopus.com/pages/publications/85097438707

U2 - 10.1007/978-3-030-62579-5_4

DO - 10.1007/978-3-030-62579-5_4

M3 - Conference contribution

AN - SCOPUS:85097438707

SN - 9783030625788

T3 - Advances in Intelligent Systems and Computing

SP - 44

EP - 59

BT - Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020

A2 - Bergasa, Luis M.

A2 - Ocaña, Manuel

A2 - Barea, Rafael

A2 - López-Guillén, Elena

A2 - Revenga, Pedro

PB - Springer Science and Business Media Deutschland GmbH

Y2 - 19 November 2020 through 20 November 2020

ER -

Gómez-Huélamo C, Del Egido J, Bergasa LM, Barea R, López-Guillén E, Arango F et al. Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator. In Bergasa LM, Ocaña M, Barea R, López-Guillén E, Revenga P, editors, Advances in Physical Agents II - Proceedings of the 21st International Workshop of Physical Agents WAF 2020. Springer Science and Business Media Deutschland GmbH. 2021. p. 44-59. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-62579-5_4

Train Here, Drive There: Simulating Real-World Use Cases with Fully-Autonomous Driving Architecture in CARLA Simulator

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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