In recent year, autonomous vehicles have been developed worldwide. ROS, which is a middleware suitable for the development of a self-driving system, is rarely used in the automotive industry. MATLAB/Simulink, which is a development software suitable for Model-based development, is usually utilized. To integrate a program created with MATLAB/Simulink into a ROS-based self-driving system, it is necessary to convert the program into C++ code and adapt to the network of the ROS-based self-driving system, which makes development inefficient. We used Autoware as ROS-based self-driving system and provided a framework which realizes co-simulation between Autoware and MATLAB/Simulink (CoSAM). CoSAM enables developers to integrate the program created with MATLAB/Simulink into the ROS-based self-driving system without converting into C++ code. Therefore, CoSAM makes the development of the self-driving system easy and efficient. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.
Services such as sending a pre-crash sensing warning and traffic condition warning are expected to be provided in carto-car/infrastructure (C2X) communication systems. Maintaining message integrity is essential for these services because wrong messages may cause collision accidents and congestion. A message authentication code (MAC) generated by using a symmetric key is used to authenticate a message. The sender and receiver of a message must possess the same symmetric key before initiating communications. In the mentioned warning services, the sender of a message cannot know who receives the message, because the message is broadcast. Moreover, it is difficult for a road-side unit (RSU) to distribute a key to an onboard unit (OBU) because an OBU cannot always communicate with a RSU. Therefore, key distribution is a problem in C2X communication systems. We thus propose a protocol for key distribution. In the protocol, all OBUs and RSUs that exist in a certain area possess the same key. An OBU obtains the keys for the area in which the OBU is present and for the area to which the OBU will go next. The protocol enables a vehicle to verify message integrity by using a symmetric key in C2X communication systems.
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