A real-time simulator (RTS) is a vital tool for rapidly designing and testing real-time embedded applications including an autonomous electric vehicle (AEV). A wirelessly inter-operable hardware-in-the-loop (HIL) real-time simulation (iRTS) platform for researching an AEV system was developed. The microkernel-based multi-core RTS is interfaced with/without wire (IEEE 802.3u/802.11g/802.15.4) to consoles and integrated to an FPGA-based extension module for accurate and high-speed HIL simulations of an AEV prototype. The proposed iRTS platform provides swiftly handling different complexity and scale of the AEV testing while satisfying real-time constraints (i.e., 7 μs resolutions and 0.3% HIL simulation error) of the AEV models and prototypes.
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