This chapter defines and introduces the concepts of model‐in‐the‐loop (MIL), hardware‐in‐the‐loop (HIL), traffic‐in‐the‐loop, infrastructure‐in‐the‐loop, and vehicle‐in‐the‐loop simulation. The virtual environments used in the MIL simulations are presented, starting with how the road network used for the autonomous vehicle path is generated. The Unity and Unreal game engine rendering environments and the corresponding publicly available LGSVL and CARLA simulators are then explained along with some of their interesting features useful for simulating autonomous vehicles. The experimental vehicles used are presented as they are all used in the evaluation of the path‐tracking controllers and collision avoidance methods. The chapter ends with a section on estimation of unknown and hard to measure parameters using the estimation of effective tire radius and tire‐road friction estimation as examples.
Simulation, Experimentation, and Estimation Overview
2021-12-21
33 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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