DEVELOPMENT OF COMMUNICATION MECHANISM FOR AUTONOMOUS VEHICLE HARDWARE-IN-THE-LOOP-SIMULATION

• Main Author: Marcello, Josep
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/76544
• Institution: Institut Teknologi Bandung

With the rapid growth of cities in Indonesia and the need to reduce impacts of growth to traffic and the environment, a public transport that can efficiently carry passengers, safe, and inexpensive. One of these public transport is autonomous tram. The autonomous tram doesn’t need a driver to operate it. This results in cheaper operational cost and safety can be better guaranteed. However, the development of autonomous tram is expensive and needs a lot of time if the testings were done in a real-world environment. Hence, a simulation system that an test the hardware and software of the autonomous tram is used for testing and development. A simulation that tests the hardware and software is also kno- wn as hardware-in-the-loop-simulation (HILS). In the HILS system, the CARLA simulator is used to run the virtual world and to get data from virtual sensors. In the autonomous tram development project, a HILS system alrady exists. Howe- ver, the system is not yet ideal since its performance is bad and sensor data can’t be used in the simulation system. The bad performance is caused by heaps of I/O operations for communication and the system’s architecture which is more compli- cated than it needs to be. Therfore, a new communication mechanism is created for the HILS system to solve the bad performance and inability to use sensor data. The new communication mechanism is at least 2.5x faster when compared to the old HILS system’s communication mechanism. Moreover, the simulation system can use sensor data while keeping CARLA running with at least 2 FPS.