vEDGAR -- Can CARLA Do HiL?
Nils Gehrke, David Brecht, Dominik Kulmer, Dheer Patel, Frank Diermeyer

TL;DR
This paper introduces vEDGAR, a framework that enables Hardware-in-the-Loop testing of automated driving software within the CARLA simulator, enhancing its utility for development and evaluation.
Contribution
The work develops and evaluates a new simulation framework, vEDGAR, that allows real-time testing of full sensor and actuation stacks in CARLA for automated vehicles.
Findings
vEDGAR successfully integrates full sensor and actuation stacks in CARLA.
The framework enables real-time Hardware-in-the-Loop testing.
CARLA can be used effectively for HiL testing with vEDGAR.
Abstract
Simulation offers advantages throughout the development process of automated driving functions, both in research and product development. Common open-source simulators like CARLA are extensively used in training, evaluation, and software-in-the-loop testing of new automated driving algorithms. However, the CARLA simulator lacks an evaluation where research and automated driving vehicles are simulated with their entire sensor and actuation stack in real time. The goal of this work is therefore to create a simulation framework for testing the automation software on its dedicated hardware and identifying its limits. Achieving this goal would greatly benefit the open-source development workflow of automated driving functions, designating CARLA as a consistent evaluation tool along the entire development process. To achieve this goal, in a first step, requirements are derived, and a…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsAutonomous Vehicle Technology and Safety · Real-time simulation and control systems · Vehicle Dynamics and Control Systems
