Hardware-in-the-loop platform for testing autonomous vehicle control algorithms

Jani Erik Heikkinen, Salimzhan Gafurov, Sergey Kopylov, Tatiana Minav, Sergey Grebennikov, Artur Kurbanov

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Autonomous vehicles are a demanding topic which has attracted a lot of attention lately. This kind of vehicle should be capable of sensing its environment and react on the presence of obstacles and other traffic participants. Algorithms for obstacle avoidance and overall control of the autonomous driving in relation to robustness regarding environmental conditions are required for driving safely on roads. For the development of these algorithms, a safe environment is needed. In order to speed up the development of the algorithms, this paper proposes a Hardware in the loop (HIL) based test environment and analysis of it for autonomous vehicle development. Proposed HIL is combining a virtual driving environment based on Unity (game engine) and Apollo (an open autonomous driving platform) as well as a real car. Unity provides ability to vary weather, road conditions and driving scenarios. Apollo includes all the code necessary for autonomous driving and consists of numerous modules: localization, perception, control, routing, safety module and others. This will allow the testing of algorithms in various conditions and scenarios in a safe way while being closer to real world. Possible challenges with realization of the HIL are discussed and highlighted in this paper.

Original languageEnglish
Title of host publicationProceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019
EditorsDhiya Al-Jumeily, Jade Hind, Jamila Mustafina, Assem Al-Hajj, Abir Hussain, Evgeni Magid, Hissam Tawfik
Number of pages6
ISBN (Electronic)9781728130217
ISBN (Print)978-1-7281-3022-4
Publication statusPublished - 2019
Publication typeA4 Article in conference proceedings
EventInternational Conference on the Developments in eSystems Engineering - Kazan, Russian Federation
Duration: 7 Oct 201910 Oct 2019

Publication series

NameInternational Conference on Developments in eSystems Engineering, DeSE
ISSN (Print)2161-1343
ISSN (Electronic)2161-1351


ConferenceInternational Conference on the Developments in eSystems Engineering
Country/TerritoryRussian Federation


  • Autonomous vehicle
  • Hardware-in-the-loop
  • Selfdriven
  • Testing

Publication forum classification

  • Publication forum level 1

ASJC Scopus subject areas

  • Health Informatics
  • Computer Science Applications
  • Control and Systems Engineering
  • Artificial Intelligence


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