TY - GEN
T1 - Extending driving simulator capabilities toward Hardware-in-the-Loop testbeds and remote vehicle interfaces
AU - Swanson, Kevin S.
AU - Brown, Alexander A.
AU - Brennan, Sean N.
AU - Lajambe, Cynthia Marie
PY - 2013/11/13
Y1 - 2013/11/13
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887259965&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887259965&partnerID=8YFLogxK
U2 - 10.1109/IVWorkshops.2013.6615236
DO - 10.1109/IVWorkshops.2013.6615236
M3 - Conference contribution
AN - SCOPUS:84887259965
SN - 9781479907953
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 115
EP - 120
BT - 2013 IEEE Intelligent Vehicles Symposium Workshops, IV Workshops 2013
T2 - 2013 IEEE Intelligent Vehicles Symposium Workshops, IV Workshops 2013
Y2 - 23 June 2013 through 23 June 2013
ER -