A Novel Integrated Simulation and Testing Platform for Self-Driving Cars With Hardware in the Loop

Effective simulation and testing environment is a vital part in the research of self-driving vehicles. It is capable of testing self-driving software and hardware quickly in a variety of virtual environments at low cost. However, as for the current mainstream simulation platforms, a considerable gap exists between the constructed virtual environment and the actual self-driving platform, which decreases the efficiency of development and makes it difficult to complete the migration from the virtual scenario to the real environment. Therefore, in this paper, the authors proposed a novel hardware-in-the-loop (HiL) simulation system. It takes the real hardware electronic control unit (ECU) of the self-driving vehicle as a part of the simulation platform, which improves the efficiency of development and testing, and also, the verified algorithms can be implemented into self-driving cars faster than ever before. The proposed HiL simulation system mainly consists of four parts: the vehicle kinematic model simulation, the multi-sensor simulation, the environment simulation, and the ECU hardware. Simulation experiments on applying the HiL system are used to verify the validity of self-driving algorithms in virtual scenes, including perception, planning, decision making, and control. Furthermore, algorithms that are tested in the simulation environment can be rapidly deployed into the real self-driving vehicles. In this paper, the authors also presented the verification processes of various algorithms, such as planning and control. These algorithms are implemented in the HiL system, and the experimental results show the validity of the authors' proposed platform.

• Record URL:
  • https://doi.org/10.1109/TIV.2019.2919470
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2019, IEEE.
• Authors:
  • Chen, Shitao
  • Chen, Yu
  • Zhang, Songyi
  • Zheng, Nanning
• Publication Date: 2019-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 425-436
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 4
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Algorithms; Autonomous vehicles; Electronic control; Hardware in the loop simulation; Software; Testing
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01717690
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 20 2019 3:12PM