Performance of Open Autonomous Vehicle Platforms: Autoware and Apollo

Fatalities due to human reckless driving and technological advancements makes all automobile companies to work towards autonomous vehicles. Making autonomous car platforms from scratch would be difficult therefore some middleware framework like Robot Operating System (ROS) which consists of pre-built software libraries can be used for self-driving. This paper throws light upon the main existing ROS based open software platforms, Autoware and Apollo and their algorithms required for scene understanding, path planning, and vehicle control.