@thesis{Konda2022, author = {Konda, Krishna Chaitanya}, title = {Integration of vehicle interface to Autoware}, publisher = {Technische Hochschule Ingolstadt}, address = {Ingolstadt}, url = {http://nbn-resolving.de/urn:nbn:de:bvb:573-34504}, pages = {IX, 50, VI-X}, school = {Technische Hochschule Ingolstadt}, year = {2022}, abstract = {For an autonomous vehicle, in order to maneuver safely by avoiding collisions with objects detected in the surrounding, it is crucial to have a stable and reliable motion control. Hence longitudinal and lateral control of the vehicle should be possible for the autonomous driving platform. This thesis work focuses on integrating the vehicle interface of StreetDrone Twizy to the open source autonomous driving platform Autoware. The first part of the work focuses on identifying of how the vehicle integration is realized with Project ASLAN. For this a simulation environment and drive simulation is created in Gazebo to drive the vehicle autonomously and to identify and realize the corresponding Robot Operating System (ROS) topic responsible for publishing the drive commands onto the vehicle. The second part of the work focuses on using the Twizy vehicle model Unified Robot Description File (URDF) into Autoware and realize the vehicle integration. For this a drive simulation in CARLA is created making use of the available simulation environment to identify the ROS topic responsible for publishing drive commands. Making using of ROS, a keyboard publisher node is created to publish the longitudinal and lateral control commands independent of the software. Also, the stability of the Twizy is verified for the desired command inputs and a value for each step increase or decrease is chosen.}, language = {en} }