{"id":"https://openalex.org/W2947869912","doi":"https://doi.org/10.1109/ivs.2019.8813784","title":"Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving","display_name":"Bridging the Gap between Open Source Software and Vehicle Hardware for Autonomous Driving","publication_year":2019,"publication_date":"2019-06-01","ids":{"openalex":"https://openalex.org/W2947869912","doi":"https://doi.org/10.1109/ivs.2019.8813784","mag":"2947869912"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2019.8813784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8813784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1905.02980","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103076661","display_name":"Tobias Kessler","orcid":"https://orcid.org/0000-0001-6177-119X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Tobias Kessler","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062846723","display_name":"Julian Bernhard","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Julian Bernhard","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061750987","display_name":"Martin Buechel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Buechel","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037443780","display_name":"Klemens Esterle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Klemens Esterle","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004617567","display_name":"Patrick Hart","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Hart","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045446045","display_name":"Daniel Malovetz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Malovetz","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085769852","display_name":"Michael Truong Le","orcid":"https://orcid.org/0000-0002-0685-4950"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Truong Le","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033589537","display_name":"Frederik Diehl","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frederik Diehl","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089731341","display_name":"Thomas Brunner","orcid":"https://orcid.org/0000-0003-0384-5132"},"institutions":[{"id":"https://openalex.org/I4210134795","display_name":"Fortiss","ror":"https://ror.org/042x1tp92","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210134795"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Brunner","raw_affiliation_strings":["Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Fortiss GmbH, An-Institut Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Chair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics, Artificial Intelligence and Real-time Systems, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5103076661"],"corresponding_institution_ids":["https://openalex.org/I4210134795","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.5276,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.83736644,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1612","last_page":"1619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"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":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/open-source-hardware","display_name":"Open source hardware","score":0.6970799565315247},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6459207534790039},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.5893775820732117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5814992189407349},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.5315760374069214},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5059308409690857},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.5004303455352783},{"id":"https://openalex.org/keywords/open-research","display_name":"Open research","score":0.423234760761261},{"id":"https://openalex.org/keywords/hardware-architecture","display_name":"Hardware architecture","score":0.3468197286128998},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3344334363937378},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.3060743808746338},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25854605436325073},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11497801542282104}],"concepts":[{"id":"https://openalex.org/C548595372","wikidata":"https://www.wikidata.org/wiki/Q159172","display_name":"Open source hardware","level":4,"score":0.6970799565315247},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6459207534790039},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.5893775820732117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5814992189407349},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.5315760374069214},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5059308409690857},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.5004303455352783},{"id":"https://openalex.org/C2778464652","wikidata":"https://www.wikidata.org/wiki/Q309849","display_name":"Open research","level":2,"score":0.423234760761261},{"id":"https://openalex.org/C65232700","wikidata":"https://www.wikidata.org/wiki/Q5656403","display_name":"Hardware architecture","level":3,"score":0.3468197286128998},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3344334363937378},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.3060743808746338},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25854605436325073},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11497801542282104},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","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},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ivs.2019.8813784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2019.8813784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE Intelligent Vehicles Symposium (IV)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1905.02980","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.02980","pdf_url":"https://arxiv.org/pdf/1905.02980","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1521782","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1521782","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1905.02980","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1905.02980","pdf_url":"https://arxiv.org/pdf/1905.02980","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1606230420","https://openalex.org/W1673310716","https://openalex.org/W1961924987","https://openalex.org/W2032924574","https://openalex.org/W2049981393","https://openalex.org/W2055207897","https://openalex.org/W2074070730","https://openalex.org/W2084899319","https://openalex.org/W2085261163","https://openalex.org/W2121806728","https://openalex.org/W2139137304","https://openalex.org/W2150292516","https://openalex.org/W2158154546","https://openalex.org/W2400765425","https://openalex.org/W2406067508","https://openalex.org/W2514195504","https://openalex.org/W2557728737","https://openalex.org/W2620406343","https://openalex.org/W2760981468","https://openalex.org/W2763476526","https://openalex.org/W2792651387","https://openalex.org/W2798786289","https://openalex.org/W2964062501","https://openalex.org/W4235740860","https://openalex.org/W4243493583","https://openalex.org/W4293682399","https://openalex.org/W4297888977","https://openalex.org/W6637131181"],"related_works":["https://openalex.org/W2544482289","https://openalex.org/W2498695322","https://openalex.org/W2048928752","https://openalex.org/W4251034626","https://openalex.org/W3152699334","https://openalex.org/W4292973309","https://openalex.org/W2154401804","https://openalex.org/W2892230743","https://openalex.org/W2074361098","https://openalex.org/W2141208083"],"abstract_inverted_index":{"Although":[0],"many":[1],"research":[2,38,55,78,121,162],"vehicle":[3,56],"platforms":[4],"for":[5,26,36],"autonomous":[6],"driving":[7,74,113],"have":[8,21],"been":[9,23],"built":[10],"in":[11,87,164],"the":[12,27,34,37,82,94,108,111,116,127,139,142,149,165],"past,":[13],"hardware":[14,83,101,136],"design,":[15],"source":[16,73],"code":[17],"and":[18,52,84,92,102,138],"lessons":[19,150],"learned":[20],"not":[22],"made":[24],"available":[25],"next":[28],"generation":[29],"of":[30,50,66,110,119,141,148,157],"demonstrators.":[31],"This":[32],"raises":[33],"efforts":[35],"community":[39],"to":[40,69,76,89,98,115],"contribute":[41],"results":[42],"based":[43],"on":[44,133],"real-world":[45],"evaluations":[46],"as":[47],"engineering":[48],"knowledge":[49],"building":[51],"maintaining":[53],"a":[54,77,130,134,154],"is":[57],"lost.":[58],"In":[59],"this":[60],"paper,":[61],"we":[62,106,152],"deliver":[63],"an":[64,71],"analysis":[65],"our":[67,99,120,146],"approach":[68],"transferring":[70],"open":[72],"stack":[75,114],"vehicle.":[79],"We":[80],"put":[81],"software":[85,103],"setup":[86,156],"context":[88],"other":[90,161],"demonstrators":[91],"explain":[93],"criteria":[95],"that":[96],"led":[97],"chosen":[100],"design.":[104],"Specifically,":[105],"discuss":[107],"mapping":[109],"Apollo":[112],"system":[117],"layout":[118],"vehicle,":[122],"fortuna,":[123],"including":[124],"communication":[125],"with":[126],"actuators":[128],"by":[129,160],"controller":[131],"running":[132],"real-time":[135],"platform":[137],"integration":[140],"sensor":[143],"setup.":[144],"With":[145],"collection":[147],"learned,":[151],"encourage":[153],"faster":[155],"such":[158],"systems":[159],"groups":[163],"future.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}