631
is used to improve the absolute accuracy of the GPS and a Kalman Filter enabled inertial
measurement unit (IMU) is used to smooth the measurements and deals with GPS signal
dropouts. Furthermore, the VBOX is equipped with a telemetry system that allows for communication between the vehicles. Data transmitted between the machines is configurable, but
can consist of among others, vehicle speed, relative positions and orientations.
Control of the brake pedal robot, logging of the VBOX data and the interface between the
test vehicle and the CMS solution is achieved with the dSPACE MicroAutoBox II (dSPACE
GmbH, 2016). Data is logged at 1000 Hz and the interface is run in real-time. The dSPACE
MicroAutoBox II can interface with the 3rd party CMS solution via a CAN bus or via a Digital I/O interface or both. The dSPACE allows for rapid prototyping and is easily adaptable
to the CMS vendor’s interface.
Lab-scale tests are conducted at Gerotek Test Facilities (Armscor Defence Institutes SOC).
Gerotek Test Facilities is a proving ground with multiple test tracks located to the west of
Pretoria, South Africa. Tests are conducted on both asphalt and concrete surfaces and are
all performed on level roads. This ensures that tests results are repeatable. Tests are mainly
conducted on the Straight Track—a one kilometre straight concrete track that is 30 m wide
at the widest part—and on the Dynamic Circle—a 100 m radius circular track that has a test
section that is approximately 90 m wide and 50 m long. Straight line tests are conducted on
the Straight Track and intersection and curved tests are conducted on the Dynamic Circle.
Figure 3 shows a schematic representation of the test setup and Figure 4 shows the test vehicle, brake pedal robot and measurement instruments on the test track at Gerotek Test Facilities.
2.4 Success criteria
The lab-scale test mainly tests the CMS solution’s decision making, although the sensing capability is also inherently tested. During all of the tests at Gerotek Test Facilities, line-of-sight
Figure 4. Test vehicle (left) and brake pedal robot (right).
Figure 3. Schematic representation of test setup, showing components used for lab-scale tests and
single machine tests.
-----------,
'------------Physical connection
Wireless connection
.. _____ _
I
_______ j
Test vehicle
is used to improve the absolute accuracy of the GPS and a Kalman Filter enabled inertial
measurement unit (IMU) is used to smooth the measurements and deals with GPS signal
dropouts. Furthermore, the VBOX is equipped with a telemetry system that allows for communication between the vehicles. Data transmitted between the machines is configurable, but
can consist of among others, vehicle speed, relative positions and orientations.
Control of the brake pedal robot, logging of the VBOX data and the interface between the
test vehicle and the CMS solution is achieved with the dSPACE MicroAutoBox II (dSPACE
GmbH, 2016). Data is logged at 1000 Hz and the interface is run in real-time. The dSPACE
MicroAutoBox II can interface with the 3rd party CMS solution via a CAN bus or via a Digital I/O interface or both. The dSPACE allows for rapid prototyping and is easily adaptable
to the CMS vendor’s interface.
Lab-scale tests are conducted at Gerotek Test Facilities (Armscor Defence Institutes SOC).
Gerotek Test Facilities is a proving ground with multiple test tracks located to the west of
Pretoria, South Africa. Tests are conducted on both asphalt and concrete surfaces and are
all performed on level roads. This ensures that tests results are repeatable. Tests are mainly
conducted on the Straight Track—a one kilometre straight concrete track that is 30 m wide
at the widest part—and on the Dynamic Circle—a 100 m radius circular track that has a test
section that is approximately 90 m wide and 50 m long. Straight line tests are conducted on
the Straight Track and intersection and curved tests are conducted on the Dynamic Circle.
Figure 3 shows a schematic representation of the test setup and Figure 4 shows the test vehicle, brake pedal robot and measurement instruments on the test track at Gerotek Test Facilities.
2.4 Success criteria
The lab-scale test mainly tests the CMS solution’s decision making, although the sensing capability is also inherently tested. During all of the tests at Gerotek Test Facilities, line-of-sight
Figure 4. Test vehicle (left) and brake pedal robot (right).
Figure 3. Schematic representation of test setup, showing components used for lab-scale tests and
single machine tests.
-----------,
'------------Physical connection
Wireless connection
.. _____ _
I
_______ j
Test vehicle