Simulation is a cornerstone of autonomous driving efforts, allowing testing to occur more rapidly and with significantly less risk than is possible with hardware platforms alone. Simulation systems must be able to emulate a variety of sensors including cameras and LiDARs in order to allow high-level software such as image processing and path planning to be tested. In this paper, we present a hardware-in-the-loop simulation system without real-time constraints. It is based on CARLA to give access to the sensors required to test high-level software, and incorporates compute hardware identical to that used on an autonomous vehicle platform in order to provide realistic constraints regarding available processing power. In addition, we explore the robot operating system based software framework used on the Formula SAE vehicle and its integration with the driving simulator. Finally, we validate the sensor outputs and vehicle dynamics of the simulated system against a physical autonomous driving hardware platform.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Hardware-in-the-Loop Autonomous Driving Simulation Without Real-Time Constraints


    Contributors:
    Brogle, Craig (author) / Zhang, Chao (author) / Lim, Kai Li (author) / Braunl, Thomas (author)

    Published in:

    Publication date :

    2019-09-01


    Size :

    3719968 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Real-Time Hardware-in-the-Loop Simulation for Drivability Development

    Hong, Sung-Kwon / Ge, Tony / Liu, Yun | SAE Technical Papers | 2017


    Hardware-in-the-loop real-time simulation interface software design

    Zhen Li, / Kyte, M. / Johnson, B. | IEEE | 2004


    Real-Time Hardware-in-the-Loop Simulation for Drivability Development

    Liu, Yun / Hong, Sung-Kwon / Ge, Tony | British Library Conference Proceedings | 2017


    Real-Time Simulation of Trucks for Hardware-in-the-Loop Applications

    Essers, Ulf / Sailer, Ulrich | SAE Technical Papers | 1994