AUTOSAR AP and ROS 2 Collaboration Framework for Development in Cloud Environment

The development of autonomous vehicles is progressing rapidly. For practical implementation, platforms ensuring real-time performance, safety, and security are crucial. AUTOSAR Adaptive Platform (AUTOSAR AP) meets these needs and is widely used in development. However, it is rarely utilized in research due to licensing and tool availability issues. Instead, Robot Operating System 2 (ROS 2) is the main platform for autonomous vehicle research. This gap between research and development platforms hinders the swift application of research outcomes, delaying the practical implementation of autonomous vehicles. Additionally, Software-Defined Vehicle (SDV) requires flexible software development in cloud environment. To address these challenges, this paper proposes AUTOSAR AP and ROS 2 collaboration framework for development in cloud environment. ROS 2 uses Data Distribution Service (DDS) for communication, while AUTOSAR AP employs Scalable service-Oriented MiddlewarE over IP (SOME/IP). The proposed framework bridges these protocols through conversion, enabling seamless communication. The functionality and performance of the proposed bridge converter are verified through measurements. The proposed bridge converter supports communication between AUTOSAR AP and ROS 2 in cloud environment and allows easy use of ROS 2 tools. Automating file generation further enhances the usability of the proposed collaboration framework.