SIL Simulation Test Platform Based on Prescan and ROS

Abstract

The existing control execution algorithms are mainly developed through the Matlab/Simulink, while the environmental perception and planning decision algorithms mostly developed by ROS. Most of the algorithm development stages are performed separately, which is not convenient for SIL tests of unmanned algorithms. In order to break the barriers between various software and improve the developing efficiency, in this paper, a SIL simulation platform based on Prescan and ROS was proposed, the obstacle avoidance function was simulated and tested through model establishment, message compilation, topic definition and communication connection in turn. The results suggested that the simulation platform in this article has a full stack SIL simulation capabilities for environmental perception, path planning and control, which can quickly perform functional verification in the early stage of algorithm development while improving the developing efficiency.