Technical Paper
Vehicle Dynamics Model for Simulation Use with Autoware.ai on ROS
2024-04-09
2024-01-1970
This research focused on reducing the fatigue elements related to on track testing of a production vehicle outfitted with an aftermarket autonomous driving package. This package consisted of Autoware.ai operating on the Robot Operating System 1 (ROS) with C++ and Python. Initial focus was understanding the basics of ROS and how to implement test scenarios in Python to characterize the control systems and dynamics of the vehicle. As understanding of the system continued to develop, test scenarios were adapted to better fit system characterization goals with identification of system configuration limits. Trends from on-track testing were identified and pared with first-order linear systems to simulate actual vehicle responses to given command inputs. Sub-models were developed and simulated in MATLAB with command inputs from on-track testing. These sub-models were converted into Python using Spyder, then uploaded into the simulation framework.