Built-in HiL simulator: A concept for faster prototyping of navigation- and communication-based control systems

In this paper, the use of a “Built-in HiL” simulator mode is proposed for speeding up the development of higherlevel navigation- and communication-based control systems that are built upon automated base platforms. It is proposed to extend the software of the platform controller such that it does not only contain the algorithms needed for operation, but also simplified real-time models of the actuator, sensor and vehicle dynamics it provides access to. The platform controller is thereby enabled to run a “Built-in HiL” mode in which it takes over the role of a HiL simulator. This Built-in HiL simulator allows to close a control loop by “actuating” the real-time models instead of the physical actuators. This creates the possibility to run virtual experiments in a lab environment, saving development and debugging time in the field or on the test track. Other than with conventional HiL simulators, no changes in the hardware setup are required to switch between HiL operation and the real experiment, such that an experiment that is performed virtually can immediately be transferred to reality. This way, iteration times in a typical Rapid Control Prototyping cycle can be reduced. The use of the proposed method is demonstrated by applying it within the development of a vehicle guidance system involving two interconnected, car-like model scale vehicles. Experimental results are shown and compared to a simulation performed with the Built-in HiL simulator mode. An assessment on possible applications and limitations is given.