Abstract
The paper presents an interactive simulation program dedicated to autonomous vehicles. The program, developed in the form of an app and written in the Matlab programming language, is a didactic tool, which aims to better understand the phenomena that occur during locomotion. To achieve this goal, the user can easily perform interactive simulations by changing the model parameters. In addition to the mentioned flexibility, the user can perform case studies and scenarios. The structure of the program is obtained by aggregating seven objects (modules), dedicated to studying the contributions of each to the simulation. These modules are for different types of trajectories, for controllers, three types of locomotion models, sensors, different filters, environment models, and for simultaneous localization and mapping. The connection between them is possible through a database. This framework ensures the continuity of the simulations. At the end of the interactive visual simulation, the user is obtaining a holistic report with the results.
References
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Abstract
References
- Chen, Y., Chen, S., Zhang, T., Zhang, S., & Zheng, N. (2018, June). Autonomous vehicle testing and validation platform: Integrated simulation system with hardware in the loop. In 2018 IEEE Intelligent Vehicles Symposium (IV) (pp. 949-956). IEEE.
- Dosovitskiy, A., Ros, G., Codevilla, F., Lopez, A., & Koltun, V. (2017). CARLA: An open urban driving simulator. In Conference on robot learning (pp. 1-16). PMLR.
- Huang, W., Wang, K., Lv, Y., & Zhu, F. (2016). Autonomous vehicles testing methods review. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC) (pp. 163-168). IEEE.
- The MathWorks Inc (2020). MATLAB version 9.8.0. Natick.
- Pozna, C. R., & Antonya, C. (2016). Issues about autonomous cars. In 2016 IEEE 11th International Symposium on Applied Computational Intelligence and Informatics (SACI) (pp. 13-18). IEEE.
- Pozna, C. R., & Antonya, C. (2021). Proposal of an autonomous vehicle control architecture. In 2021 IEEE 25th International Conference on Intelligent Engineering Systems (INES) (pp. 37-42). IEEE.
- Rosique, F., Navarro, P. J., Fernández, C., & Padilla, A. (2019). A systematic review of perception system and simulators for autonomous vehicles research. Sensors, 19(3), 648.
- Wen, M., Park, J., & Cho, K. (2020). A scenario generation pipeline for autonomous vehicle simulators. Human-centric Computing and Information Sciences, 10, 1-15.
Details
| Primary Language | English |
|---|---|
| Subjects | Engineering |
| Journal Section | Articles |
| Authors | |
| Publication Date | December 31, 2021 |
| Published in Issue | Year 2021Volume: 16 |
