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

23-26 June 2013

Firstpage

122

Lastpage

127

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; operating systems (computers); public domain software; software metrics; software performance evaluation; traffic engineering computing; Gazebo; ROS; driving simulator capabilities; driving simulator software analysis; hardware-in-the-loop testbeds; inter-hardware delays; open-source HIL-centric driving simulator; remote vehicle interfaces; robot operating system; system latency metrics; 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 (IV), 2013 IEEE

Conference_Location

Gold Coast, QLD

ISSN

1931-0587

Print_ISBN

978-1-4673-2754-1

Type

conf

DOI

10.1109/IVS.2013.6629458

Filename

6629458