With the development of ITS (Intelligent Transportation System) and autonomous driving, the connection among cars and the communication between sensors and algorithms are more and more flexible and sophisticated, raising the demand for the compatibility of software platform. However, currently widely applied software platforms like ROS and Apollo only support specific versions of Ubuntu, which limits the communication and transplant among various equipment. Thus, this paper presents a highly compatible software platform named OpenICV (Open Intelligent Connected Vehicle), which is deployed and tested on Tsinghua autonomous driving experimental vehicles. OpenICV supports the majority types of mainstream operating systems, such as Linux, Windows, QNX, macOS, RTLinux and Embedded Linux. The autopilot vehicles equipped with different hardware and operating systems can achieve effective communication via OpenICV. In addition, the autopilot algorithms developed on OpenICV can be easily transplanted among different equipment. Besides, a fast and secure communication mechanism is developed on OpenICV.

CICTP