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Architecture 1.0#

Architecture 1.0 is the layered architecture of the rule-based Autoware stack. In Architecture 2.0, this stack is still the default stack, and its planning acts as the rule-based generator of trajectories.

Introduction#

Architecture 1.0 is a layered architecture that clarifies the role of each module and simplifies the interfaces between them. By doing so:

  • Autoware's internal processing becomes more transparent.
  • Collaborative development is made easier because of the reduced interdependency between modules.
  • Users can easily replace an existing module (for example, localization) with their own software component by wrapping their software to fit in with Autoware's interface.

The initial focus of this architecture design was solely on driving capability. The following features were left as future work at first. Later work added packages for each of them:

FeatureExamples of the packages in Autoware 2.0.0
Fail safeautoware_mrm_handler and the minimal risk maneuver (MRM) operators
Human machine interfaceThe AD API
Real-time processingagnocast, a zero-copy inter-process communication middleware
Redundant systemautoware_redundancy_switcher_interface and autoware_redundancy_adapi_switcher
State monitoring systemautoware_diagnostic_graph_aggregator and autoware_system_monitor

High-level architecture design#

The stacks of Autoware. Sensing, map, and the vehicle interface feed localization. Localization, sensing, and the map feed perception and planning. Perception feeds planning, planning feeds control, and control drives the vehicle through the vehicle interface.PerceptionDynamic objectsDetectionTrackingPredictionObstacle segmentationTraffic lightsDetectionClassificationPlanningMissionScenarioScenario selectorLanedrivingParkingControlLocalizationSensingMapVehicle interfaceLiDAR, cameras, radars, GNSS/INS, IMUVehicle
The stacks of the rule-based architecture and the data flow between them.

Autoware's architecture consists of the following seven stacks. Each linked page contains a more detailed set of requirements and use cases specific to that stack:

  • Sensing

    Sensor drivers and the preprocessing of sensor data.

  • Map

    The point cloud map and the vector map.

  • Perception

    Objects, obstacles, and traffic lights around the vehicle.

  • Planning

    The route and the trajectory of the vehicle.

  • Control

    The commands that make the vehicle follow the trajectory.

Node diagram#

The node diagram page shows Autoware's nodes in the default configuration. Detailed documents for each node are available in the Autoware Universe docs.

Autoware configurations are scalable and selectable, and they vary depending on the environment and the required use cases.

References#