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.


    Access

    Download


    Export, share and cite



    Title :

    Automated Testing of Ultrawideband Positioning for Autonomous Driving


    Contributors:

    Publication date :

    2020-01-01


    Remarks:

    Scopus 2-s2.0-85079208712



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Automated Testing of Ultra-Wideband Positioning for Autonomous Driving

    Vedder, Benjamin / Svensson, Joel / Vinter, Jonny et al. | BASE

    Free access

    Development of Ground Based Ultrawideband Multistatic Positioning System

    Ertem, Mehmet Can / Woods, Brian / Heidhausen, Eric et al. | IEEE | 2021