Fraunhofer Institute for Cognitive Systems IKS
Fraunhofer Institute for Cognitive Systems IKS

APIKS: Software Platform for Autonomous Vehicle Functions

APIKS is a software platform based on a modular architecture tailored for the development of autonomous vehicle functions. Utilizing the ROS2 framework, APIKS separates functionalities into individual nodes, allowing for independent development of components without affecting the overall system. This approach enhances system manageability and facilitates the efficient testing and implementation of new functionalities. 

This software platform for autonomous vehicle functions is ideal for:

  • Automotive researchers and developers seeking a flexible, scalable platform for evaluation tasks.
  • Engineering teams in automotive companies focusing on rapid prototyping and safety.

APIKS features & facts

  • Standards-based system architecture: Built for modularity, compliance, and long-term sustainability.
  • Functional distribution: Adheres to ISO 4804 for optimal distribution of sensing, perception, drive planning, motion control, and actuator functions.
  • ODD handling & ADS mode management: Integrates well-established concepts from ISO 34503 for Operational Design Domain handling and autonomous driving system mode management.
  • Standardized Interfaces: Ensures consistent and reliable communication between functional blocks as per ISO 4804.
  • Future-ready: Designed for easy updates to incorporate future standards, including ISO 5083.

APIKS system architecture

The graphic illustrates the APIKS architecture based on ISO/TR 4804
© Fraunhofer IKS
The graphic illustrates the APIKS architecture based on ISO/TR 4804

Details about the software platform for automated vehicle functions

© iStock.com/Bim

Rapid prototyping

  • Reuse existing functional blocks: Leverage current components to expedite development.
  • Independent target block development: Work on specific target blocks without dependencies.
  • Utilize existing simulation scenarios: Test and validate new functions using pre-existing simulation setups for efficiency and reliability.

Verification & validation

  • ML / safe AI integration: Ensure robust machine learning and safe AI practices.
  • Comprehensive safety metrics:
    • Design time metrics:  Object detection accuracy, trajectory planning accuracy, detection localization accuracy, and collision rate.
    • Runtime metrics: Object detection range, average mode cycle, and controller solution time.
  • Fast integration of live monitors: Utilize the ROS2 communication stack for overarching monitoring.
  • Live monitoring and data management:
    • Real-time monitoring: Continuously observe system performance and safety.
    • Data storage and replay: Efficiently store and replay data for thorough analysis and validation.

Operations

  • Containerized development: Utilize containerization to streamline development, ensuring consistency and portability across different environments.
  • Cloud deployment: Enable seamless cloud deployment for scalable and flexible operations, enhancing accessibility and resource management.

© iStock.com/mseidelch

Integration in state-of-the-art software platforms

  • Simulators: Easily integrate with advanced simulators like CARLA for comprehensive testing and validation.
  • Autonomous driving software platforms: Compatible with leading AD software platforms such as AUTOWARE (integration in progress).

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