本文介绍了一个开源的自动驾驶车辆安全测试平台，该平台涵盖了多传感器数据融合、车辆模型等核心功能。通过使用robot_localization等工具实现精确的位置估计，并探讨了不同类型的车辆运动模型。
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测试相关
- https://oas.voyage.auto/
主要涉及自动驾驶车辆的安全测试，已开源。
主要功能如下图所示，
开发
1.多传感器数据融合
robot_localization
http://docs.ros.org/kinetic/api/robot_localization/html/index.html
robot_localization is a collection of state estimation nodes, each of which is an implementation of a nonlinear state estimator for robots moving in 3D space. It contains two state estimation nodes, ekf_localization_node and ukf_localization_node. In addition, robot_localization provides navsat_transform_node, which aids in the integration of GPS data.
2. 车辆模型
KINEMATICS MODELS OF KINEMATICS MODELS OF MOBILE ROBOTS；
Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design；
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