Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware. Copyright © 2020 Benjamin Vedder et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Automated Testing of Ultrawideband Positioning for Autonomous Driving
2020-01-01
Scopus 2-s2.0-85079208712
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Autonomous driving autonomous system, automated driving assistance method, and computer program
Europäisches Patentamt | 2020
|Transportation Research Record | 2008
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