carma-platform | CARMA Platform is built on robot operating system

carma-platform is a C++ library. carma-platform has no bugs, it has no vulnerabilities and it has low support. You can download it from GitHub.

Managing automated vehicle motion involves three aspects. The first is navigation, also known as localization, which is the act of determining where the vehicle currently is with respect to the earth and with respect to the desired path of travel (its planned route). The second is guidance, also known as trajectory planning, which includes the processes of determining how the vehicle is to move from its current location to its destination. The destination and route will be handed to the guidance algorithms, and they then determine how the vehicle’s motion needs to be adjusted at any time in order to follow the route. The third aspect of automated vehicle motion is control, which covers the actuation of the vehicle’s physical devices to induce changes in motion (for land vehicles these are typically causing the wheels to rotate faster or slower and turning the steering wheel). Therefore, the navigation solution becomes an input to the guidance function, and the guidance solution becomes an input to the control function. As the vehicle moves, obviously its location changes so that the navigation function constantly needs to update its solution and the cycle iterates as quickly as necessary to produce a smooth and accurate vehicle motion. The rate of iteration is largely determined by the expected speed of the vehicle. CARMA Platform provides the navigation and guidance functions for its host vehicle, as well as some of the control functions. It depends on low level controller hardware to provide the rest of the control function. The current version of CARMA Platform provides SAE level 3+ autonomy, with both speed and steering control.