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...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/9345360 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832550952317485056 |
|---|---|
| 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. |
| format | Article |
| id | doaj-art-0f196fb2e8f84afabef3d49fbb5b50a4 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| 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 |
| work_keys_str_mv | AT benjaminvedder automatedtestingofultrawidebandpositioningforautonomousdriving AT bojoelsvensson automatedtestingofultrawidebandpositioningforautonomousdriving AT jonnyvinter automatedtestingofultrawidebandpositioningforautonomousdriving AT magnusjonsson automatedtestingofultrawidebandpositioningforautonomousdriving |