Problem
Research questions and friction points this paper is trying to address.
Autonomous Racing
High-Fidelity Simulation
Multi-Body Model
Software Testing
High-Fidelity Multi-Body Simulator for Autonomous Racing
🤖 AI Summary
本文开发了一个高保真多体车辆动力学仿真环境，用于自动驾驶赛车软件的测试与验证，使用Dymola建模并通过FMU集成至自定义模拟器中。
📝 Abstract
We present a custom high-fidelity vehicle dynamics simulation environment for testing and validation of Autonomous Racing software. The digital twin of the autonomous vehicle is developed in Dymola, using racecar dynamics modeling libraries to build a complete multi-body model. A 3D road surface, including elevation profiles and curbs, is implemented using the Curved Regular Grid (CRG) standard. The model is exported from Dymola as a Functional Mock-up Unit (FMU) and integrated into a custom software-in-the-loop simulator, where communication interfaces with the autonomous racing stack were developed in C++. A calibration procedure based on experimental data is also presented, along with a validation study to further support the quality of the proposed framework. The simulator runs in real time on a portable computer and provides reliable ground truth for algorithms validation prior to real-world deployment.
Innovation
Methods, ideas, or system contributions that make the work stand out.
High-Fidelity Multi-Body Simulator
Dymola
Curved Regular Grid (CRG)
Functional Mock-up Unit (FMU)
Software-in-the-loop
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