autoware.ai：自动驾驶汽车的开源软件

[](https://www.autoware.ai)    [Autoware](https://www.autoware.ai) is the world's first "all-in-one" open-source software for self-driving vehicles. The capabilities of Autoware are primarily well-suited for urban cities, but highways, freeways, mesomountaineous regions, and geofenced areas can be also covered. The code base of Autoware is protected by the Apache 2 License. Please use it at your own discretion. For safe use, we provide a ROSBAG-based simulation environment for those who do not own real autonomous vehicles. If you plan to use Autoware with real autonomous vehicles, **please formulate safety measures and assessment of risk before field testing.** You may refer to [Autoware Wiki](https://github.com/Autoware-AI/autoware.ai/wiki/home) for **Users Guide** and **Developers Guide**. ## What Is Autoware [](https://github.com/Autoware-AI/autoware.ai/wiki/Overview) Autoware provides a rich set of self-driving modules composed of sensing, computing, and actuation capabilities. An overview of those capabilities is described [here](https://github.com/Autoware-AI/autoware.ai/wiki/Overview). Keywords include *Localization, Mapping, Object Detection & Tracking, Traffic Light Recognition, Mission & Motion Planning, Trajectory Generation, Lane Detection & Selection, Vehicle Control, Sensor Fusion, Cameras, LiDARs, RADARs, Deep Learning, Rule-based System, Connected Navigation, Logging, Virtual Reality, and so on*. Free manuals can be also found at [Autoware-Manuals](https://github.com/CPFL/Autoware-Manuals). You are encouraged to contribute to the maintenance of these manuals. Thank you for your cooperation! ## Getting Started [](https://github.com/Autoware-AI/autoware.ai/wiki/Demo) ### Recommended System Specifications - Number of CPU cores: 8 - RAM size: 32GB - Storage size: 64GB+ ### Users Guide 1. [Installation](https://github.com/Autoware-AI/autoware.ai/wiki/Installation) 1. [Docker](https://github.com/Autoware-AI/autoware.ai/wiki/Docker) 1. [Source](https://github.com/Autoware-AI/autoware.ai/wiki/Source-Build) 1. [Demo](https://github.com/Autoware-AI/autoware.ai/wiki/ROSBAG-Demo) 1. [Field Test](https://github.com/Autoware-AI/autoware.ai/wiki/Field-Test) 1. [Simulation Test](https://github.com/Autoware-AI/autoware.ai/wiki/Simulation-Demo) 1. [Videos](https://github.com/Autoware-AI/autoware.ai/wiki/Videos) ### Developers Guide 1. [Contribution Rules](https://github.com/Autoware-AI/autoware.ai/wiki/Contributing-to-Autoware) (**Must Read**) 1. [Overview](https://github.com/Autoware-AI/autoware.ai/wiki/Overvieww) 1. [Specification](https://github.com/Autoware-AI/autoware.ai/wiki/Specification) ## Research Papers for Citation 1. S. Kato, S. Tokunaga, Y. Maruyama, S. Maeda, M. Hirabayashi, Y. Kitsukawa, A. Monrroy, T. Ando, Y. Fujii, and T. Azumi,``Autoware on Board: Enabling Autonomous Vehicles with Embedded Systems,'' In Proceedings of the 9th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS2018), pp. 287-296, 2018. [Link](https://dl.acm.org/citation.cfm?id=3207930) 2. S. Kato, E. Takeuchi, Y. Ishiguro, Y. Ninomiya, K. Takeda, and T. Hamada. ``An Open Approach to Autonomous Vehicles,'' IEEE Micro, Vol. 35, No. 6, pp. 60-69, 2015. [Link](https://ieeexplore.ieee.org/document/7368032/) ## Cloud Services ### Autoware Online You may test Autoware at [Autoware Online](http://autoware.online/). No need to install the Autoware repository to your local environment. ### Automan You may annotate and train your ROSBAG data using your web browser through [Automan](https://www.automan.ai). The trained models can be used for deep neural network algorithms in Autoware, such as SSD and Yolo. ### ROSBAG STORE You may download a number of test and simulation data sets from Tier IV's [ROSBAG STORE](https://rosbag.tier4.jp). Note that free accounts would not allow you to access image data due to privacy matters. ### Map Tools You may create 3D map data through Tier IV's [Map Tools](https://maptools.tier4.jp/). The 3D map data used in Autoware are composed of point cloud structure data and vector feature data. ## License Autoware is provided under the [Apache 2 License](https://github.com/Autoware-AI/autoware.ai/blob/master/LICENSE). ## Contact [Autoware Discourse](https://discourse.ros.org/c/autoware) [Autoware Developers Slack Team](https://autoware.herokuapp.com/) Please see the [Support Guidelines](https://github.com/Autoware-AI/autoware.ai/wiki/Support-guidelines) for more details about getting help. *** <div align="center"><img src="docs/images/autoware_logo_1.png" width="400"/></div>