{"id":"https://openalex.org/W4313049594","doi":"https://doi.org/10.1109/access.2022.3212152","title":"Deepware: An Open-Source Toolkit for Developing and Evaluating Learning-Based and Model-Based Autonomous Driving Models","display_name":"Deepware: An Open-Source Toolkit for Developing and Evaluating Learning-Based and Model-Based Autonomous Driving Models","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4313049594","doi":"https://doi.org/10.1109/access.2022.3212152"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3212152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3212152","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2022.3212152","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037284897","display_name":"Shunya Seiya","orcid":"https://orcid.org/0000-0002-2164-330X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shunya Seiya","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2164-330X","affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037312161","display_name":"Alexander Carballo","orcid":"https://orcid.org/0000-0002-5941-2195"},"institutions":[{"id":"https://openalex.org/I4210150479","display_name":"Institute for Future Engineering","ror":"https://ror.org/04p1vet95","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210150479"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexander Carballo","raw_affiliation_strings":["Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5941-2195","affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I4210150479"]},{"raw_affiliation_string":"Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113688124","display_name":"Eijiro Takeuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210150479","display_name":"Institute for Future Engineering","ror":"https://ror.org/04p1vet95","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210150479"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Eijiro Takeuchi","raw_affiliation_strings":["Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I4210150479"]},{"raw_affiliation_string":"Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042118446","display_name":"Kazuya Takeda","orcid":"https://orcid.org/0000-0002-0330-1787"},"institutions":[{"id":"https://openalex.org/I4210150479","display_name":"Institute for Future Engineering","ror":"https://ror.org/04p1vet95","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210150479"]},{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Takeda","raw_affiliation_strings":["Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0330-1787","affiliations":[{"raw_affiliation_string":"Graduate School of Informatics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Institute of Innovation for Future Society, Furo-cho, Chikusa-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I4210150479"]},{"raw_affiliation_string":"Tier IV Inc., Open Innovation Center, Nagoya University, Nakamura-ku, Nagoya, Aichi, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037284897"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.2352,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5103057,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"105734","last_page":"105743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.825855553150177},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.6252680420875549},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.6094201803207397},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5234917402267456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5092767477035522},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4980194568634033},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.4552045166492462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43721306324005127},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41025710105895996},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2399936020374298},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13632190227508545}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.825855553150177},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.6252680420875549},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.6094201803207397},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5234917402267456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5092767477035522},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4980194568634033},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4552045166492462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43721306324005127},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41025710105895996},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2399936020374298},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13632190227508545},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3212152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3212152","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01152:0005698978","is_oa":true,"landing_page_url":"https://nagoya.repo.nii.ac.jp/records/2004900","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal article"},{"id":"pmh:oai:doaj.org/article:fb8d32093ae5448984d9af86529908df","is_oa":true,"landing_page_url":"https://doaj.org/article/fb8d32093ae5448984d9af86529908df","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 105734-105743 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3212152","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3212152","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G2697086270","display_name":null,"funder_award_id":"JPNP18010","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2206222117","https://openalex.org/W2342840547","https://openalex.org/W2890235476","https://openalex.org/W2905173465","https://openalex.org/W2922081082","https://openalex.org/W2962894046","https://openalex.org/W3009593063","https://openalex.org/W3035498040","https://openalex.org/W3120176678","https://openalex.org/W3172863135","https://openalex.org/W6704559304","https://openalex.org/W6745935785","https://openalex.org/W6755103542","https://openalex.org/W6772033386"],"related_works":["https://openalex.org/W2384475851","https://openalex.org/W2000444236","https://openalex.org/W2353602216","https://openalex.org/W2367078749","https://openalex.org/W2381798600","https://openalex.org/W1910583078","https://openalex.org/W2351618306","https://openalex.org/W2999162218","https://openalex.org/W1537443268","https://openalex.org/W2390634956"],"abstract_inverted_index":{"In":[0,161],"recent":[1],"decades,":[2],"many":[3],"learning-based":[4,39,87,168],"autonomous":[5,40,88,138],"driving":[6,41,89,139],"systems":[7,42,140],"have":[8,13,43],"been":[9],"proposed,":[10],"and":[11,30,85,98,103,169,194],"researchers":[12],"also":[14,151,186],"created":[15],"toolkits":[16,22,37],"for":[17,38,68,83,96,131],"developing":[18,84],"these":[19],"systems.":[20,148],"These":[21],"allow":[23],"developers":[24],"to":[25,50,54,155],"train":[26],"their":[27],"models":[28,105],"easily,":[29],"then":[31],"test":[32],"them":[33],"using":[34,112],"simulators.":[35],"Existing":[36],"some":[44],"limitations":[45],"however,":[46],"which":[47,124,143],"include":[48],"inability":[49],"reuse":[51],"modules":[52,154],"or":[53,108],"perform":[55],"accurate":[56],"comparisons":[57],"with":[58,146],"model-based":[59,147,170,181],"systems,":[60,182],"as":[61,63,121,141],"well":[62],"a":[64,72,126],"lack":[65],"of":[66,128,167],"support":[67,187],"middle-to-middle":[69,188],"models.":[70,90,160,189],"As":[71],"solution,":[73],"in":[74,109,137],"this":[75],"paper":[76],"we":[77,118],"introduce":[78],"Deepware,":[79],"an":[80],"end-to-end":[81],"toolkit":[82,184,193],"evaluating":[86,99,104],"Deepware":[91,192],"includes":[92],"the":[93,165,173],"tools":[94],"needed":[95],"collecting":[97],"datasets,":[100],"training":[101],"models,":[102],"on":[106],"simulators":[107],"real-world":[110],"environments":[111],"actual":[113],"vehicles.":[114],"Unlike":[115],"existing":[116],"toolkits,":[117],"used":[119,136],"ROS":[120],"our":[122,183],"platform,":[123],"is":[125],"set":[127],"software":[129,133],"frameworks":[130],"robot":[132],"development":[134],"widely":[135],"middleware,":[142],"allows":[144,152,164],"cooperation":[145],"This":[149],"approach":[150],"system":[153],"be":[156],"shared":[157],"when":[158],"building":[159],"addition,":[162],"it":[163],"comparison":[166],"methods":[171],"under":[172],"same":[174],"conditions.":[175],"Moreover,":[176],"by":[177],"extracting":[178],"features":[179],"from":[180],"can":[185],"The":[190],"proposed":[191],"dataset":[195],"are":[196],"available":[197],"at:":[198],"<uri":[199],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[200],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/shunchan0677/deepware</uri>":[201],".":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}