Real-Time Implementation and Validation for Automated Path Following Lateral Control Using Hardware-in-the-Loop (HIL) Simulation
- Technical Paper
- ISSN 0148-7191
- DOI: https://doi.org/10.4271/2017-01-1683
Software for autonomous vehicles is highly complex and requires vast amount of vehicle testing to achieve a certain level of confidence in safety, quality and reliability. According to the RAND Corporation, a 100 vehicle fleet running 24 hours a day 365 days a year at a speed of 40 km/hr, would require 17 billion driven kilometers of testing and take 518 years to fully validate the software with 95% confidence such that its failure rate would be 20% better than the current human driver fatality rate [
The objectives of this research were three-fold. The first objective was to implement a real-time version of the path-following lateral controller to add lateral capability to a powertrain-based longitudinal controlled HIL setup. The second objective was to validate the path-following capability of the lateral controller. Lastly, the third objective was to quantitatively understand the real-time behavior and sensitivity of the lateral controller using simulations over varying vehicle inertial and environmental conditions such as speed, payload mass, payload position, surface type/friction, rapid acceleration/deceleration, and crosswinds.
CitationJoshi, A., "Real-Time Implementation and Validation for Automated Path Following Lateral Control Using Hardware-in-the-Loop (HIL) Simulation," SAE Technical Paper 2017-01-1683, 2017, https://doi.org/10.4271/2017-01-1683.
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