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Papers › X-CAR: An Experimental Vehicle Platform for Connected Autonomy Research Powered by CARMA

X-CAR: An Experimental Vehicle Platform for Connected Autonomy Research Powered by CARMA

6 Apr 2022arXiv:2204.02559links table onlyarchive 2025-07-28

Goodarz Mehr, Prasenjit Ghorai, Ce Zhang, Anshul Nayak, Darshit Patel, Shathushan Sivashangaran, Azim Eskandarian

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Autonomous vehicles promise a future with a safer, cleaner, more efficient, and more reliable transportation system. However, the current approach to autonomy has focused on building small, disparate intelligences that are closed off to the rest of the world. Vehicle connectivity has been proposed as a solution, relying on a vision of the future where a mix of connected autonomous and human-driven vehicles populate the road. Developed by the U.S. Department of Transportation Federal Highway Administration as a reusable, extensible platform for controlling connected autonomous vehicles, the CARMA Platform is one of the technologies enabling this connected future. Nevertheless, the adoption of the CARMA Platform has been slow, with a contributing factor being the limited, expensive, and relatively old vehicle configurations that are officially supported. To alleviate this problem, we propose X-CAR (eXperimental vehicle platform for Connected Autonomy Research). By implementing the CARMA Platform on more affordable, high quality hardware, X-CAR aims to increase the versatility of the CARMA Platform and facilitate its adoption for research and development of connected driving automation.

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VT-ASIM-LAB/carma-config official report
VT-ASIM-LAB/continental_radar_driver mentioned in paper report
VT-ASIM-LAB/lucid_camera_driver mentioned in paper report
vt-asim-lab/carma-platform mentioned in paper report
vt-asim-lab/dataspeed_can_driver mentioned in papertf report
vt-asim-lab/dataspeed_controller_driver mentioned in paper report
vt-asim-lab/inertiallabs_gnss_driver mentioned in paper report
vt-asim-lab/ouster_lidar_driver mentioned in papertf report
VT-ASIM-LAB/autoware.ai report
VT-ASIM-LAB/carma-platform report

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