This paper discusses a platform both in simulation and experimentation for testing autonomous heavy trucking. In simulation, we present a novel use of the video game American Truck Simulator (ATS) as the simulation platform, only costing a fraction of commercial simulator software. In experimentation, we present a modified ProStar 122+ using the PACMod system from AutonomouStuff, a popular by-wire kit. Discussion and review of the by-wire kit and sensors is provided. A proof-of-concept of the platform is shown by performing lane keeping at 65 mph using the Stanley lateral controller and MobilEye detection system. Further, we introduce a rapidly developed longitudinal control algorithm using a pedal actuation map, and 3D lookup tables created from braking and acceleration data. Introductory results are presented to aid the research community for single vehicle autonomous trucking.


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    Titel :

    Systems Integration, Simulation, and Control for Autonomous Trucking


    Beteiligte:
    Darwesh, Amir (Autor:in) / Woods, Grayson (Autor:in) / Saripalli, Srikanth (Autor:in)


    Erscheinungsdatum :

    19.10.2020


    Format / Umfang :

    2820272 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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