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Hardware-in-the-loop platform for testing autonomous vehicle control algorithms

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoProceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019
ToimittajatDhiya Al-Jumeily, Jade Hind, Jamila Mustafina, Assem Al-Hajj, Abir Hussain, Evgeni Magid, Hissam Tawfik
KustantajaIEEE
Sivut906-911
Sivumäärä6
ISBN (elektroninen)9781728130217
ISBN (painettu)978-1-7281-3022-4
DOI - pysyväislinkit
TilaJulkaistu - 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaInternational Conference on the Developments in eSystems Engineering - Kazan, Venäjä
Kesto: 7 lokakuuta 201910 lokakuuta 2019

Julkaisusarja

NimiInternational Conference on Developments in eSystems Engineering, DeSE
ISSN (painettu)2161-1343
ISSN (elektroninen)2161-1351

Conference

ConferenceInternational Conference on the Developments in eSystems Engineering
MaaVenäjä
KaupunkiKazan
Ajanjakso7/10/1910/10/19

Tiivistelmä

Autonomous vehicles are a demanding topic which has attracted a lot of attention lately. This kind of vehicle should be capable of sensing its environment and react on the presence of obstacles and other traffic participants. Algorithms for obstacle avoidance and overall control of the autonomous driving in relation to robustness regarding environmental conditions are required for driving safely on roads. For the development of these algorithms, a safe environment is needed. In order to speed up the development of the algorithms, this paper proposes a Hardware in the loop (HIL) based test environment and analysis of it for autonomous vehicle development. Proposed HIL is combining a virtual driving environment based on Unity (game engine) and Apollo (an open autonomous driving platform) as well as a real car. Unity provides ability to vary weather, road conditions and driving scenarios. Apollo includes all the code necessary for autonomous driving and consists of numerous modules: localization, perception, control, routing, safety module and others. This will allow the testing of algorithms in various conditions and scenarios in a safe way while being closer to real world. Possible challenges with realization of the HIL are discussed and highlighted in this paper.