This paper discusses a platform both in simulation and experimentation for testing autonomous heavy trucking. In simulation, we present a novel use of the video game American Truck Simulator (ATS) as the simulation platform, only costing a fraction of commercial simulator software. In experimentation, we present a modified ProStar 122+ using the PACMod system from AutonomouStuff, a popular by-wire kit. Discussion and review of the by-wire kit and sensors is provided. A proof-of-concept of the platform is shown by performing lane keeping at 65 mph using the Stanley lateral controller and MobilEye detection system. Further, we introduce a rapidly developed longitudinal control algorithm using a pedal actuation map, and 3D lookup tables created from braking and acceleration data. Introductory results are presented to aid the research community for single vehicle autonomous trucking.
Systems Integration, Simulation, and Control for Autonomous Trucking
2020 IEEE Intelligent Vehicles Symposium (IV) ; 1486-1491
2020-10-19
2820272 byte
Conference paper
Electronic Resource
English
SYSTEMS INTEGRATION, SIMULATION, AND CONTROL FOR AUTONOMOUS TRUCKING
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