Hardware-in-the-Loop Hybrid Simulation Framework for Human-Machine Co-Driving Based on ROS & Simulink

Human-machine co-driving technology helps to reduce traffic accidents and improve driving safety, and has become the frontier and hot research direction of intelligent driving. In the development of the human-machine co-driving system, in order to quickly promote the transformation of the system from virtual simulation to physical experiment, reduce the test cost of the system for physical verification, and reduce the difficulty of debugging the system under real conditions, this paper designs a framework for human-machine co-driving in micro traffic environment based on hardware-in-the-loop simulation. In order to verify the feasibility of the framework, this paper also designs a simple human-machine co-driving system. Run this simple system on our framework and analysis the result to test the capability and evaluate the feasibility of simulation framework. Prove that the framework is capable of simulating and debugging the human-machine co-driving system.