libadore

libadore is the core implementation the ADORe framework

Background

libadore is a collection of libraries for education and research on Cooperative Automated Vehicles (CAV). Its goal is to support different automation levels and different driving capabilities with a set of well defined interfaces, data models and controller implementations. We strive to minimize controller complexity and the amount of required data by making use of abstractions. The library is developed system independently in c++. In order to test and simulate concrete instances of automation designs, a generic interface to middleware software and data transmission is provided.

FIG: libadore/ADORe Architecture

Components

This section will offer a description and background on all available Components within libadore.

• libadore/adore/fun - motion planning, decision making and control for AV
• libadore/adore/env - environment description, data representation for AV
• libadore/adore/view - data abstraction interface for AV, decouples fun and env
• libadore/adore/mad - math, algorithms and abstract data structures supporting AV
• libadore/adore/apps - middleware independent implementation of adore applications
• libadore/adore/params - abstract parameter descriptions for AV
• libadore/adore/sim - simulation tools
• libadore/adore/if_xodr - conversion of OpenDrive tracks into internal representation
• libadore/adore/if_r2s - conversion of Road2Simulation tracks into internal representation

Component Descriptions

libadore bundles several packages: Four central packages of the library are ENV for environment models, FUN for planner and controller implementations, VIEW for abstraction and decoupling of environment models and APPS for definition of applications based on a combination of ENV, FUN and VIEW. The package SIM defines models for the simulation of one or more automated vehicles. The package PARAMS lists sets of parameters required for vehicle automation. The package MAD defines a useful toolset for mathematical operations, algorithms and data structures. The package if_xodr converts OpenDrive road models to an internal road-map model.

One important design principle we strive to uphold is to avoid direct dependencies between models and controllers/planners. The VIEW package therefore defines several task specific data abstraction interfaces. A set of models from ENV is used to provide data to a view, while a controller uses the high-level data provided by the view, without knowing the underlying models. This allows us to easily exchange, re-organize and extend environment models. Furthermore, several alternative controller implementations for a specific task can be compared without implementing a task specific data refinement multiple times.

Another important principle is to avoid depending on specific communication or middleware frameworks. The APPS package defines several "proto" processes, which interconnect model data acquisition, abstraction/refinement and planning and control modules, without referencing concrete middleware services. Communication services are decoupled using an abstract factory pattern. Several packages (ENV, FUN, SIM) define abstract factories to standardize their data exchange. A separate project adore_if_ros implements middleware-dependent concrete factory and concrete product implementations.

Currently, libadore does not contain packages for sensor data fusion or interfacing with physical sensors. Assuming a typical "sense-plan-act" architecture, all vehicle automation modules downstream of "sense" are in the scope of this project.

Build Status

Getting Started

This module requires make and docker installed and configured for your user.

Building

To build libadore run the following:

make build

Testing

To run unit tests run the following target:

make test

Static checking

There are several included static analysis tools. To run them use the following:

make lint

make cppcheck

External Libraries

libadore depends on several external libraries that do not provide distributions. They are packaged and hosted for adore via docker.io. All external libraries are located in libadore/external. There is a provided make file to build and publish all external libraries. By default all external libraries are disabled in the .gitmodules file. They have been previously published to docker.io. In order to build them you must first enable the one you would like to build in the .gitmodules file.

ℹ️ INFO: External library submodues are disabled and will not be pulled. Enable them by modifying the .gitmodules and invoking 'git submodue update --init'.

ℹ️ INFO: By default external libraries are not built. They are sourced as pre-compiled docker images from docker.io.

License

The source code and the accompanying material is licensed under the terms of the EPL v2.

Contributors

• Daniel Heß
• Stephan Lapoehn
• Thomas Lobig
• Matthias Nichting
• Robert Markowski
• Jan Lauermann
• Reza Deriani
• Jonas Rieck
• Andrew Koerner