DEVELOPMENT OF TESTING MODULE FOR AUTONOMOUS TRAM SIMULATION USING CARLA SIMULATOR

• Main Author: Axel Bachtera, Jeremia
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/76672
• Institution: Institut Teknologi Bandung

In the “Development of Autonomous Trem in Indonesia” project, a testing is required, which one them, happens in simulation. This Final Project develops a testing module and the testing scenarios. Testing scenarios that will be implemented are arranged by both simulation team and decision making team. Those scenarios will simulate the conditions or situation possible in the operating environment, such as various weather, various sun lighting, various traffic conditions, etc. This Final Project uses CARLA Simulator and CARLA ScenarioRunner as the simulator and the framework to run testing scenarios. This module will also develop tram interface to control the tram that is developed on top of private vehicle (car/motorcycle) interface; using NPC agent as the steering driver that steers following the waypoints that is defined beforehand. In this module, will also be developed agent that receives command from another computer, uses Hardware-in-the-Loop Simulation (HILS) scheme. The result, this module runs well, and the testing scenarios run as intended and could test the autonomous tram.