Automated Testing of Ultrawideband Positioning for Autonomous Driving

Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the...

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Bibliographic Details
Published in:Journal of robotics 2020, Vol.2020 (2020), p.1-15
Main Authors: Jonsson, Magnus, Vinter, Jonny, Svensson, Bo Joel, Vedder, Benjamin
Format: Article
Language:English
Subjects:
Automated approach
Automated testing
Automatic test pattern generation
Automation
Automobiles
Autonomous driving
Autonomous vehicles
Experiments
Fault injection
Fault tolerance
Hardware
Performance evaluation
Positioning system
Real time
Real time kinematic
Real-time hardware
Satellite navigation
Software
Software testing
Ultra-wideband (UWB)
Ultrawideband
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Summary:Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware.
ISSN:1687-9600
1687-9619
1687-9619
DOI:10.1155/2020/9345360