Title: AVstack: An Open-Source, Reconfigurable Platform for Autonomous Vehicle Development Show Chinese title

Title: AVstack：一个开源的、可重构的自动驾驶汽车开发平台

Abstract: Pioneers of autonomous vehicles (AVs) promised to revolutionize the driving experience and driving safety. However, milestones in AVs have materialized slower than forecast. Two culprits are (1) the lack of verifiability of proposed state-of-the-art AV components, and (2) stagnation of pursuing next-level evaluations, e.g., vehicle-to-infrastructure (V2I) and multi-agent collaboration. In part, progress has been hampered by: the large volume of software in AVs, the multiple disparate conventions, the difficulty of testing across datasets and simulators, and the inflexibility of state-of-the-art AV components. To address these challenges, we present AVstack, an open-source, reconfigurable software platform for AV design, implementation, test, and analysis. AVstack solves the validation problem by enabling first-of-a-kind trade studies on datasets and physics-based simulators. AVstack solves the stagnation problem as a reconfigurable AV platform built on dozens of open-source AV components in a high-level programming language. We demonstrate the power of AVstack through longitudinal testing across multiple benchmark datasets and V2I-collaboration case studies that explore trade-offs of designing multi-sensor, multi-agent algorithms. Show Chinese abstract

Abstract: 自动驾驶汽车（AVs）的先驱们曾承诺将彻底改变驾驶体验和驾驶安全性。然而，自动驾驶汽车的里程碑实现速度比预期要慢。两个主要原因分别是：（1）目前最先进的自动驾驶汽车组件缺乏可验证性；（2）追求更高水平评估（例如车对基础设施通信V2I和多智能体协作）停滞不前。部分原因在于：自动驾驶汽车中的软件量庞大，多种不同的约定共存，跨数据集和模拟器测试困难，以及最先进的自动驾驶汽车组件缺乏灵活性。为了解决这些挑战，我们提出了AVstack，这是一个开源、可重构的软件平台，用于自动驾驶汽车的设计、实现、测试和分析。AVstack通过在数据集和基于物理的模拟器上进行前所未有的权衡研究来解决验证问题。作为一个基于数十个开源自动驾驶汽车组件、用高级编程语言构建的可重构自动驾驶汽车平台，AVstack解决了停滞问题。我们通过跨多个基准数据集的纵向测试以及探索多传感器、多智能体算法设计权衡的V2I协作案例研究，展示了AVstack的强大功能。