How to make a radio controlled car with autoware

[tanakatarou39]

I want to build a real remote-controlled car capable of autonomous driving using Autoware at the lowest possible cost. Could you provide any information, no matter how minor, regarding the necessary components, their prices, assembly instructions, and so on?

[maxime-clem]

Please clarify the architecture you have in mind. When looking at the high level architecture of Autoware, please explain where each component will be running.
One possibility could be:

• RC car:
  • Vehicle interface to publish the vehicle statuses (steering angle, wheel speed, etc).
  • Lidar sensor to publish the pointcloud.
• Main computer (not on the RC car):
  • All other components of Autoware.

[tanakatarou39]

Thank you for your response. I apologize in advance if my reply might not be accurate due to my lack of knowledge. I have experience in preparing a commercially available RC car and using a microcontroller, as explained in the URL below, to control the chassis and tire rotation with Donkey Car to enable autonomous driving.

https://docs.donkeycar.com/guide/build_hardware/

Additionally, I have simulated autonomous driving using AWSIM in Autoware. For the actual RC car, I used a camera with Donkey Car, but I believe that autonomous driving can be achieved using LiDAR in Autoware.

I would like to try autonomous driving with Autoware as well, but I haven’t found any websites explaining how to do so yet. That’s why I asked this question here. I apologize again for my lack of knowledge.

[maxime-clem]

I think Autoware is too heavy to run on a Rasberry Pi. Moreover a GPU is needed for some functionalities (Lidar, image detection).
Do you want to run Autoware on the RC car, or do you want to use a host computer to control the car remotely ?

What you can try in order to run everything on the RC car is:

• Setup ROS 2 on the RC car.
• Use Yabloc (camera based localization).
  • May require an IMU + wheel odometry for good results.
• Run only the most basic modules (no perception, only the most basic planning modules, etc).

[tanakatarou39]

Thank you for the information.
At this stage, I don't plan to mount a computer on the vehicle to operate the radio-controlled car in a small room.
For now, I will study the information you provided.