Self-driving vehicles have experienced an increase in research interest in the last decades. Nevertheless, fully autonomous vehicles are still far from being a common means of transport. This paper presents the design and experimental validation of a processor-in-the-loop (PIL) architecture for an autonomous sports car. The considered vehicle is an all-wheel drive full-electric single-seater prototype. The retained PIL architecture includes all the modules required for autonomous driving at system level: environment perception, trajectory planning, and control. Specifically, the perception pipeline exploits obstacle detection algorithms based on Artificial Intelligence (AI), and the trajectory planning is based on a modified Rapidly-exploring Random Tree (RRT) algorithm based on Dubins curves, while the vehicle is controlled via a Model Predictive Control (MPC) strategy. The considered PIL layout is implemented firstly using a low-cost card-sized computer for fast code verification purposes. Furthermore, the proposed PIL architecture is compared in terms of performance to an alternative PIL using high-performance real-time target computing machine. Both PIL architectures exploit User Datagram Protocol (UDP) protocol to properly communicate with a personal computer. The latter PIL architecture is validated in real-time using experimental data. Moreover, they are also validated with respect to the general autonomous pipeline that runs in parallel on the personal computer during numerical simulation.


    Access

    Download


    Export, share and cite



    Title :

    Processor-in-the-loop architecture design and experimental validation for an autonomous racing vehicle



    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Control and Validation of an Autonomous Drag Racing Vehicle

    Donikian, Vatche / Bell, Joseph / Khairallah, Nadim et al. | British Library Conference Proceedings | 2021


    Control and Validation of an Autonomous Drag Racing Vehicle

    Washington, Gregory / Bell, Joseph / Khairallah, Nadim et al. | SAE Technical Papers | 2021



    AUTONOMOUS DRIVING SYSTEM FOR A RACING CAR OR OTHER VEHICLE

    BALCOMBE BRYN | European Patent Office | 2022

    Free access

    Autonomous racing using model predictive control

    Curinga, Florian | BASE | 2017

    Free access