将驾驶模拟器功能扩展到硬件在环测试平台和远程车辆接口

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI:10.1109/IVS.2013.6629458

K. Swanson, A. Brown, S. Brennan, C. M. LaJambe

{"title":"将驾驶模拟器功能扩展到硬件在环测试平台和远程车辆接口","authors":"K. Swanson, A. Brown, S. Brennan, C. M. LaJambe","doi":"10.1109/IVS.2013.6629458","DOIUrl":null,"url":null,"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.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Extending driving simulator capabilities toward Hardware-in-the-Loop testbeds and remote vehicle interfaces\",\"authors\":\"K. Swanson, A. Brown, S. Brennan, C. M. LaJambe\",\"doi\":\"10.1109/IVS.2013.6629458\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":251198,\"journal\":{\"name\":\"2013 IEEE Intelligent Vehicles Symposium (IV)\",\"volume\":\"3 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE Intelligent Vehicles Symposium (IV)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IVS.2013.6629458\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE Intelligent Vehicles Symposium (IV)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2013.6629458","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 10

摘要

本文介绍了利用ROS和Gazebo设计的半在环(hardware -in- loop, HIL)驾驶模拟器的开发。对当前的驾驶模拟器软件进行了分析，重点分析了HIL模拟器与传统模拟器实现的需求。最后，本文记录了实现开源以hil为中心的驾驶模拟器的过程，并对系统性能进行了分析，强调了系统延迟的度量和最小化硬件间延迟的策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Extending driving simulator capabilities toward Hardware-in-the-Loop testbeds and remote vehicle interfaces

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2013 IEEE Intelligent Vehicles Symposium (IV)

自引率

0.00%

发文量