PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking
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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.
Journal of Advanced Transportation
Copyright © 2017 Zhigang Xu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Mechanical Engineering not elsewhere classified