Automated Testing of Ultrawideband Positioning for Autonomous Driving

Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the...

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Main Authors: Benjamin Vedder, Bo Joel Svensson, Jonny Vinter, Magnus Jonsson
Format: Article
Language:English
Published: Wiley 2020-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2020/9345360
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author Benjamin Vedder
Bo Joel Svensson
Jonny Vinter
Magnus Jonsson
author_facet Benjamin Vedder
Bo Joel Svensson
Jonny Vinter
Magnus Jonsson
author_sort Benjamin Vedder
collection DOAJ
description Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware.
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institution Kabale University
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language English
publishDate 2020-01-01
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spelling doaj-art-0f196fb2e8f84afabef3d49fbb5b50a42025-02-03T06:05:15ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/93453609345360Automated Testing of Ultrawideband Positioning for Autonomous DrivingBenjamin Vedder0Bo Joel Svensson1Jonny Vinter2Magnus Jonsson3Department of Electronics, RISE Research Institutes of Sweden, Borås, SwedenDepartment of Electronics, RISE Research Institutes of Sweden, Borås, SwedenDepartment of Electronics, RISE Research Institutes of Sweden, Borås, SwedenSchool of Information Technology, Halmstad University, Halmstad, SwedenAutonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware.http://dx.doi.org/10.1155/2020/9345360
spellingShingle Benjamin Vedder
Bo Joel Svensson
Jonny Vinter
Magnus Jonsson
Automated Testing of Ultrawideband Positioning for Autonomous Driving
Journal of Robotics
title Automated Testing of Ultrawideband Positioning for Autonomous Driving
title_full Automated Testing of Ultrawideband Positioning for Autonomous Driving
title_fullStr Automated Testing of Ultrawideband Positioning for Autonomous Driving
title_full_unstemmed Automated Testing of Ultrawideband Positioning for Autonomous Driving
title_short Automated Testing of Ultrawideband Positioning for Autonomous Driving
title_sort automated testing of ultrawideband positioning for autonomous driving
url http://dx.doi.org/10.1155/2020/9345360
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AT bojoelsvensson automatedtestingofultrawidebandpositioningforautonomousdriving
AT jonnyvinter automatedtestingofultrawidebandpositioningforautonomousdriving
AT magnusjonsson automatedtestingofultrawidebandpositioningforautonomousdriving