Abstract
With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL) scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.
Highlights
Autonomous vehicles, known as self-driving vehicles or driverless vehicles, are capable of sensing the traffic environment, navigating through software algorithm, and controlling vehicle movement without driver’s decisions and actions
An autonomous vehicle consists of five functions: (1) sensing and location systems; (2) global route planning; (3) behavior reasoning; (4) trajectory planning; (5) trajectory tracking control
The trajectory tracking control process needs to be tested with real vehicles as the vehicle kinematic and dynamic constraints; controller responsiveness will influence the reliability, smooth, and comfort of autonomous vehicles
Summary
Autonomous vehicles, known as self-driving vehicles or driverless vehicles, are capable of sensing the traffic environment, navigating through software algorithm, and controlling vehicle movement without driver’s decisions and actions. Zulkefli et al [18] proposed a HIL testbed to evaluate the performance of connected vehicle applications This testbed integrated a laboratory powertrain research platform with a microscopic traffic simulator (VISSIM), which could be used to test various ITS applications such as CACC, Eco-Driving, and Speed Harmonization. A HIL scaled platform for testing autonomous vehicle trajectory tracking (PaTAVTT) is presented, which is a mechatronic testbed consists of scaled roadway, scaled vehicles, indoor positioning subsystem, and computer-aided Graphical User Interfaces. Compared with other HIL test systems, PaTAVTT has the following advantages It is equipped with an indoor ultra-wideband(UWB-) based high-precision positioning system matches the GPS precision in outdoor field, which can record the accurate trajectory of the scaled vehicle in motion. The testing results demonstrate that the HIL platform can be used to test the trajectory planning and tracking control of an autonomous vehicle, which potentially shorten its development cycle.
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