Higher levels of autonomous driving are bringing sophisticated requirements and unpredicted challenges. In order to solve these problems, the set of functionalities in modern vehicles is growing in terms of algorithmic complexity and required hardware. The risk of testing implemented solutions in real world is high, expensive and time consuming. This is the reason for virtual automotive simulation tools for testing are heavily acclaimed. Original Equipment Manufacturers (OEMs) use these tools to create closed sense, compute, act loop to have realistic testing scenarios. Production software is tested against simulated sensing data. Based on these inputs a set of actions is produced and simulated which generates consequences that are evaluated. This creates a possibility for OEMs to minimize design errors and optimize costs of the vehicle production before any physical prototypes are produced. This paper presents the development of simple C++/Python perception applications that can be used in driver assistance functionalities. Using ROS as a prototyping platform these applications are validated and tested with "Software-In-the Loop" (SIL) method. CARLA simulator is used as a generator for input data and output commands of the autonomous platform are executed as simulated actions within simulator. Validation is done by connecting Autoware autonomous platform with CARLA simulator in order to test against various scenes in which applications are applicable. Vision based lane detection, which is one of the prototypes, is also tested in a real world scenario to demonstrate the applicability of algorithms developed with simulators to real-time processing
Abstract-This paper describes one solution for an implementation of the surround speaker virtualization module for a digital signal processor in a sound bar system. The main problem in this system, which consists of a decoder, a renderer and a post-processing module, is complex processing of sound in real-time. In order to achieve real-time execution of these operations and offer customers an affordable product, sound bar system is implemented on an embedded platform. A detailed overview of the system architecture and available resources is given, as the development of modules in an embedded system requires optimal resource usage. Furthermore, numerous challenges and constraints of realtime system programming are presented through the implementation of surround virtualization module, an integral part of the post-processing block. The merits of the proposed architecture are fortified with the measured usage of limited processor resources, and evaluation results confirm that realtime execution of the proposed solution is achieved.
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