Dual-Cockpit Human and Hardware-in-the-Loop Test Bench for Autonomous Vehicle Development

This paper introduces innovative approaches to address challenges in testing and validating autonomous driving systems, emphasizing the need for alternative methods like Real-Time and Virtual Simulation Environments. A Dual-Cockpit Human and Hardware-in-the-Loop (DC HHIL) test bench has been developed, combining various testing approaches and enabling extensive testing in controlled settings. The system, acting as a full autonomy solution, enhances driver capabilities, particularly in safety-critical scenarios. This paper details the test bench's architecture, hardware and software components, and its contribution to autonomous system development and validation. Control mechanisms, synchronization aspects, and haptic feedback design are discussed, showcasing the bench's versatility. Experiments include latency studies, human behavior analysis, and steering intervention detection, demonstrating its effectiveness in mimicking real-world scenarios. The DC HHIL test bench emerges as a crucial tool for autonomous vehicle development, offering a comprehensive and risk-reducing alternative to traditional testing methods.