Extending driving simulator capabilities toward Hardware-in-the-Loop testbeds and remote vehicle interfaces

Author

Swanson, Kevin S. ; Brown, Alexander A. ; Brennan, Sean N. ; LaJambe, Cynthia M.

fYear

2013

fDate

23-23 June 2013

Firstpage

115

Lastpage

120

Abstract

This paper describes the development of a Hardware-in-the-Loop (HIL) driving simulator designed with ROS and Gazebo. An analysis of current driving simulator software is conducted focusing on the requirements for HIL simulators versus traditional simulator implementations. Finally, the process for implementing an open-source HIL-centric driving simulator is documented, along with an analysis of system performance emphasizing metrics of system latency and strategies to minimize inter-hardware delays.

Keywords

digital simulation; formal specification; program diagnostics; public domain software; traffic engineering computing; Gazebo; HIL driving simulator; HIL simulator requirements; ROS; driving simulator capability; driving simulator software; hardware-in-the-loop testbed; interhardware delay minimization; open-source HIL-centric driving simulator; remote vehicle interfaces; system latency; system performance; Cameras; Hardware; Roads; Software; Testing; Vehicle dynamics; Vehicles; Gazebo; Robot Operating System; driving simulator; hardware-in-the-loop; tele-op;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium Workshops (IV Workshops), 2013 IEEE

Conference_Location

Gold Coast, QLD

Print_ISBN

978-1-4799-0794-6

Type

conf

DOI

10.1109/IVWorkshops.2013.6615236

Filename

6615236