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

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

doi:10.1109/DeSE.2019.00168

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

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

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

5 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019
Editors	Dhiya Al-Jumeily, Jade Hind, Jamila Mustafina, Assem Al-Hajj, Abir Hussain, Evgeni Magid, Hissam Tawfik
Publisher	IEEE
Pages	906-911
Number of pages	6
ISBN (Electronic)	9781728130217
ISBN (Print)	978-1-7281-3022-4
DOIs	https://doi.org/10.1109/DeSE.2019.00168
Publication status	Published - 2019
Publication type	A4 Article in conference proceedings
Event	International Conference on the Developments in eSystems Engineering - Kazan, Russian Federation Duration: 7 Oct 2019 → 10 Oct 2019

Publication series

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

Conference

Conference	International Conference on the Developments in eSystems Engineering
Country/Territory	Russian Federation
City	Kazan
Period	7/10/19 → 10/10/19

Keywords

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

Access to Document

10.1109/DeSE.2019.00168

Cite this

Heikkinen, J. E., Gafurov, S., Kopylov, S., Minav, T., Grebennikov, S., & Kurbanov, A. (2019). Hardware-in-the-loop platform for testing autonomous vehicle control algorithms. In D. Al-Jumeily, J. Hind, J. Mustafina, A. Al-Hajj, A. Hussain, E. Magid, & H. Tawfik (Eds.), Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019 (pp. 906-911). Article 9073320 (International Conference on Developments in eSystems Engineering, DeSE). IEEE. https://doi.org/10.1109/DeSE.2019.00168

Heikkinen, Jani Erik ; Gafurov, Salimzhan ; Kopylov, Sergey et al. / Hardware-in-the-loop platform for testing autonomous vehicle control algorithms. Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019. editor / Dhiya Al-Jumeily ; Jade Hind ; Jamila Mustafina ; Assem Al-Hajj ; Abir Hussain ; Evgeni Magid ; Hissam Tawfik. IEEE, 2019. pp. 906-911 (International Conference on Developments in eSystems Engineering, DeSE).

@inproceedings{3d6dad531a5c4ecea0d823dcbacf8adc,

title = "Hardware-in-the-loop platform for testing autonomous vehicle control algorithms",

abstract = "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.",

keywords = "Autonomous vehicle, Hardware-in-the-loop, Selfdriven, Testing",

author = "Heikkinen, {Jani Erik} and Salimzhan Gafurov and Sergey Kopylov and Tatiana Minav and Sergey Grebennikov and Artur Kurbanov",

year = "2019",

doi = "10.1109/DeSE.2019.00168",

language = "English",

isbn = "978-1-7281-3022-4",

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publisher = "IEEE",

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editor = "Dhiya Al-Jumeily and Jade Hind and Jamila Mustafina and Assem Al-Hajj and Abir Hussain and Evgeni Magid and Hissam Tawfik",

booktitle = "Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019",

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Heikkinen, JE, Gafurov, S, Kopylov, S, Minav, T, Grebennikov, S & Kurbanov, A 2019, Hardware-in-the-loop platform for testing autonomous vehicle control algorithms. in D Al-Jumeily, J Hind, J Mustafina, A Al-Hajj, A Hussain, E Magid & H Tawfik (eds), Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019., 9073320, International Conference on Developments in eSystems Engineering, DeSE, IEEE, pp. 906-911, International Conference on the Developments in eSystems Engineering, Kazan, Russian Federation, 7/10/19. https://doi.org/10.1109/DeSE.2019.00168

Hardware-in-the-loop platform for testing autonomous vehicle control algorithms. / Heikkinen, Jani Erik; Gafurov, Salimzhan; Kopylov, Sergey et al.
Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019. ed. / Dhiya Al-Jumeily; Jade Hind; Jamila Mustafina; Assem Al-Hajj; Abir Hussain; Evgeni Magid; Hissam Tawfik. IEEE, 2019. p. 906-911 9073320 (International Conference on Developments in eSystems Engineering, DeSE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Hardware-in-the-loop platform for testing autonomous vehicle control algorithms

AU - Heikkinen, Jani Erik

AU - Gafurov, Salimzhan

AU - Kopylov, Sergey

AU - Minav, Tatiana

AU - Grebennikov, Sergey

AU - Kurbanov, Artur

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

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KW - Testing

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DO - 10.1109/DeSE.2019.00168

M3 - Conference contribution

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SN - 978-1-7281-3022-4

T3 - International Conference on Developments in eSystems Engineering, DeSE

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BT - Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019

A2 - Al-Jumeily, Dhiya

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A2 - Al-Hajj, Assem

A2 - Hussain, Abir

A2 - Magid, Evgeni

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PB - IEEE

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Heikkinen JE, Gafurov S, Kopylov S, Minav T, Grebennikov S, Kurbanov A. Hardware-in-the-loop platform for testing autonomous vehicle control algorithms. In Al-Jumeily D, Hind J, Mustafina J, Al-Hajj A, Hussain A, Magid E, Tawfik H, editors, Proceedings - 12th International Conference on the Developments in eSystems Engineering, DeSE 2019. IEEE. 2019. p. 906-911. 9073320. (International Conference on Developments in eSystems Engineering, DeSE). doi: 10.1109/DeSE.2019.00168

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

Abstract

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Keywords

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