RT Journal Article
T1 A complete framework for developing and testing automated driving controllers
A1 Lattarulo, Ray
A1 Perez, Joshue
A1 Dendaluze, Martin
A1 Dendaluce, Martin
AB Intelligent vehicles have improved their highly and fully automated driving capacities in the last years. Most of the developments are driven by the fast evolution of embedded systems for the acquisition, perception and communication modules. However, the fast growing of the automated vehicle market demands modern tools for validation, integration and testing of these new embedded functionalities, specially related to Advanced Driving Assistance Systems (ADAS). In this paper, a testing methodology for validation of path planning and control algorithms for current and future automated vehicles is presented. A high degree of modularity and adaptability have been considered in the design of the proposed method. It is based on a software tool for vehicle modeling, called Dynacar, which allows a good trajectory definition, cooperative maneuvers interaction and virtual validation. Different types of vehicles, scenarios (i.e.: urban, interurban, highways under different environmental conditions) and controllers can be tested. Moreover, Hardware-In-the-Loop configuration (i.e. electronic control units) can be also tested. Simulation results show a good performance in the implementation and configuration of urban scenarios, using different controllers in the proposed framework
SN 2405-8963
YR 2017
FD 2017-07
LA eng
NO Lattarulo , R , Perez , J , Dendaluze , M & Dendaluce , M 2017 , ' A complete framework for developing and testing automated driving controllers ' , IFAC-PapersOnLine , vol. 50 , no. 1 , pp. 258-263 . https://doi.org/10.1016/j.ifacol.2017.08.043
NO Publisher Copyright: © 2017
DS TECNALIA Publications
RD 29 sept 2024