Systems Integration, Simulation, and Control for Autonomous Trucking

This paper discusses a platform both in simulation and experimentation for testing autonomous heavy trucking. In simulation, we present a novel use of the video game American Truck Simulator (ATS) as the simulation platform, only costing a fraction of commercial simulator software. In experimentation, we present a modified ProStar 122+ using the PACMod system from AutonomouStuff, a popular by-wire kit. Discussion and review of the by-wire kit and sensors is provided. A proof-of-concept of the platform is shown by performing lane keeping at 65 mph using the Stanley lateral controller and MobilEye detection system. Further, we introduce a rapidly developed longitudinal control algorithm using a pedal actuation map, and 3D lookup tables created from braking and acceleration data. Introductory results are presented to aid the research community for single vehicle autonomous trucking.