The Hardware-in-the-loop Simulator: A Mechatronic Testbed for Cooperative Vehicles Maneuvers

摘要

The Hardware-in-the-loop (HIL) simulation is both effective and necessary for Intelligent Vehicle-Highway Systems (IVHS). This paper introduces the prototype HIL simulation system, the Wuhan University of Technology Simulator (WUTS), which is a novel, mechatronic, and scaled testbed to conduct researches on cooperative vehicles in IVHS. An overview of this system, including system architecture, development process, and individual hardware implementation, is presented. A simplified vehicle model is proposed and applied into the WUTS using similarity principle based on the system modeling on the real vehicle and hardware. Two cooperative vehicles cases of following and lane-changing maneuvers were studied and emulated in the WUTS. Experimental results demonstrate that WUTS and developed vehicle models are effective and accurate for IVHS studies.