System Architecture¶

DMV-AVP is built as an extension of DMAVA. It relies on the same architecture, but with added perception and orchestration logic to enable multi-vehicle AVP.

System-Level Container-Based Architecture¶

Distributed AVP Architecture

See diagram in full view.

AVP State Machine¶

AVP State Machine Diagram See diagram in full view.

Software Stack and Version Overview¶

Component	Name	Version / Branch
Operating System	Ubuntu	22.04 LTS
ROS 2 Distribution	ROS 2	Humble Hawksbill
Autonomy Stack	Autoware Universe	release/2024.11 (modified)
Simulation Engine	AWSIM Labs	main (modified)
Middleware Bridge	Zenoh Bridge for ROS 2	release/1.7.2
Unity-Integrated YOLOv5 Parking Spot Detection	U-YOLO Module	v5
Multi-Vehicle AVP Coordination	AVP-CF	custom

Host Roles¶

Host 1 (Nitro PC):
- AWSIM Labs simulation (Unity-based)
- U-YOLO module
- Autoware (vehicle 1 stack)
- The AVP Managers from the AVP-CF
- Zenoh Bridge (in router mode)
Host 2 (ROG Laptop):
- Autoware (vehicle 2 stack, with /vehicle2 namespace)
- The AVP Node from the AVP-CF
- Zenoh Bridge (in client mode)

Scalability¶

DMV-AVP can be applied to use multiple hosts/vehicles.

See Scaling for Multiple Vehicles.

Next Steps: Proceed to Software Setup.