Hardware in Loop Experimental Setup

The preferred way of testing algorithms before implementing in a real vehicle is the evaluation using a Hardware in Loop (HiL) experimental setup, since it helps to reduce the development cost, time as well as enables one to determine the efficacy of these algorithms. A HiL experimental test rig, consisting of axles, brake system and driving simulator, is established by integrating the system with the vehicle dynamic simulation software IPG TruckMaker with the help of IPG XPACK4.

Axles

The HiL experimental setup has a front axle and a rear axle of a heavy commercial vehicle. These axles are rigidly attached to custom made fixtures.

Electro-Pneumatic Regulator

Electro-Pneumatic Regulator (EPR) is one of the most import components of an electro-pneumatic brake (EPB) system. EPB system provide certain improvements over the conventional brake system.

IPG XPACK4

IPG XPACK4 is a flexible and modular hardware that serves as a Real Time Rapid Control Prototyping tool. The mathematical models are imported to the rapid control prototyping tool for performing HiL experiments.

Driving Simulator

The driving simulator consists of a steering wheel and pedal assembly with force feedback. This is used to simulate the real world driving scenarios to determine the effectiveness of the algorithms and also to get a first hand driving experience.

Solid State Lidar

The Lidar is a Time-of -flight based sensor used to measure the distance of an object placed in its Field of View. This sensor is currently being used in the development of Collision Avoidance Systems. The sensor has a Field of View of 20 degrees and can detect vehicles up to a distance of 90 meters.