Abstract
The paper introduces a hardware-in-the-loop (HIL) driving simulator with the implementation of a look-ahead cruise control considering forward road information. The vehicle dynamics are simulated real-time in the high fidelity heavy duty vehicle simulation environment TruckSim, while the proposed look-ahead control algorithm also runs real-time on dSPACE MicroAutoBox II. The latter functions as a vehicle electronic control unit (ECU) and is used for rapid control prototyping (RCP), hence the proposed look-ahead driver assistance system can be tested and tuned in a real-time HIL vehicle simulator before installing dSPACE MicroAutoBox II in a real vehicle.
Highlights
Introduction and motivationSoftware-in-the-loop (SIL) and hardware-in-the-loop (HIL)simulation systems are powerful tools for developing production ready controllers
The HIL environment presented in the paper enables the driver/developer to test the operation of the proposed look-ahead cruise control along with a conventional cruise control or manual driving in a real-time simulation environment
In case the driver pushes the OPTIMAL button on the steering wheel, the reference velocity is set by the look-ahead control algorithm running under dSPACE MicroAutoBox II
Summary
Introduction and motivationSoftware-in-the-loop (SIL) and hardware-in-the-loop (HIL)simulation systems are powerful tools for developing production ready controllers. The latter functions as a vehicle electronic control unit (ECU) and is used for rapid control prototyping (RCP), the proposed look-ahead driver assistance system can be tested and tuned in a real-time HIL vehicle simulator before installing dSPACE MicroAutoBox II in a real vehicle.
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