Validation of Automated Driving Function Based on the Apollo Platform: A Milestone for Simulation With Vehicle-in-the-Loop Testbed

Hexuan Li*, Vamsi Prakash Makkapati, Ernst Tomasch, Heinz Hoschopf, Zhengguo GU, Arno Eichberger

*Corresponding author for this work

Research output: Contribution to journalArticle

Abstract

With the increasing complexity of automated driving features, it is crucial to adopt innovative approaches that combine hardware and software to validate prototype vehicles in the early stages of development. This article demonstrates the effectiveness of a Vehicle-in-the-Loop (ViL) testbed in conducting dynamic tests of vehicles equipped with highly automated driving functions. The tests are designed to replicate critical driving scenarios from real-world environments on the ViL testbed. In this study, the Apollo platform is utilized to develop an automated driving function that can perceive the surrounding traffic in a virtual environment and generate feasible trajectories. This is achieved with the help of a multibody simulation platform. The control commands from the simulated driving function are then transmitted to the real vehicle to execute the planned action. The results demonstrate that critical traffic scenarios can be replicated more safely and repeatedly on the ViL testbed. Meanwhile, the Apollo-based driving function can effectively and comfortably cope with critical scenarios. Importantly, this study marks a significant milestone for the Apollo platform as it is implemented in a real-time system and tested on a ViL testbed.

Original languageEnglish
Pages (from-to)718-731
Number of pages14
JournalVehicles
Volume5
Issue number2
DOIs
Publication statusPublished - 16 Jun 2023

Keywords

  • Apollo platform
  • vehicle-in-the-loop
  • automotive engineering
  • virtual simulation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Automotive Engineering

Fields of Expertise

  • Mobility & Production

Fingerprint

Dive into the research topics of 'Validation of Automated Driving Function Based on the Apollo Platform: A Milestone for Simulation With Vehicle-in-the-Loop Testbed'. Together they form a unique fingerprint.

Cite this