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.


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    Title :

    Systems Integration, Simulation, and Control for Autonomous Trucking


    Contributors:


    Publication date :

    2020-10-19


    Size :

    2820272 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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