This repository contains the code for an Autonomous Vehicle Testbed. Objective of the setup is to test the performance of different degradation strategies in an Mixed Criticality System. For details regarding the architecture of the setup, please refer to the research paper https://ieeexplore.ieee.org/document/8759239. A demo of this testbed is available at https://www.youtube.com/watch?v=A0PWjPjkqOY&feature=youtu.be Major components required to run this setup are the following:
- Electronic Control Unit implemented on the Texas Instruments Hercules Development Kit (http://www.ti.com/tool/TMDS570LS31HDK)
- Gateway implemented on the FreeScale Kinetis KEA (https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/general-purpose-mcus/ea-series-automotive-cortex-m0-plus/ultra-reliable-kea-automotive-microcontrollers-mcus-based-on-arm-cortex-m0-plus-core:KEA)
- Simulink
- Arduino
Software tools required to use this setup:
- Code Composer Studeon for compiling ECU code
- Codewarrior IDE for compiling the gateway code
- Arduino IDE for compiling the arduino code
- Matlab/Simulink environment
For details regarding installation of TORCS and compiling the code for linking TORCS and the Simulink model refer to https://github.com/VerifiableAutonomy/TORCSLink.