PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking
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...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/9203251 |
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| _version_ | 1832554893530890240 |
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| author | Zhigang Xu Mingliang Wang Fengzhi Zhang Sheng Jin Jin Zhang Xiangmo Zhao |
| author_facet | Zhigang Xu Mingliang Wang Fengzhi Zhang Sheng Jin Jin Zhang Xiangmo Zhao |
| author_sort | Zhigang Xu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-244c1dcda24246e0b89b64ad5cb8ca38 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-244c1dcda24246e0b89b64ad5cb8ca382025-02-03T05:50:09ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/92032519203251PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory TrackingZhigang Xu0Mingliang Wang1Fengzhi Zhang2Sheng Jin3Jin Zhang4Xiangmo Zhao5School of Information Engineering, Chang’an University, Xi’an, Shaanxi, ChinaSchool of Information Engineering, Chang’an University, Xi’an, Shaanxi, ChinaQilu Bank Corporation Limited, No. 176 Shunhe St, Jinan, Shandong, ChinaCollege of Civil Engineering and Architecture, Zhejiang University, Hangzhou, Zhejiang, ChinaGriffith School of Engineering, Griffith University, Gold Coast Campus, Southport, 4222 QLD, AustraliaSchool of Information Engineering, Chang’an University, Xi’an, Shaanxi, ChinaWith 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.http://dx.doi.org/10.1155/2017/9203251 |
| spellingShingle | Zhigang Xu Mingliang Wang Fengzhi Zhang Sheng Jin Jin Zhang Xiangmo Zhao PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking Journal of Advanced Transportation |
| title | PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking |
| title_full | PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking |
| title_fullStr | PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking |
| title_full_unstemmed | PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking |
| title_short | PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking |
| title_sort | patavtt a hardware in the loop scaled platform for testing autonomous vehicle trajectory tracking |
| url | http://dx.doi.org/10.1155/2017/9203251 |
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