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We present a hardware-in-the-loop (HIL) simulation setup for repeatabletesting of Connected Automated Vehicles (CAVs) in dynamic, real-worldscenarios. Our goal is to test control and planning algorithms and theirdistributed implementation on the vehicle hardware and, possibly, in the cloud.The HIL setup combines PreScan for perception sensors, road topography, andsignalized intersections; Vissim for traffic micro-simulation; ETASDESK-LABCAR/a dynamometer for vehicle and powertrain dynamics; and on-boardelectronic control units for CAV real time control. Models of traffic andsignalized intersections are driven by real-world measurements. To demonstratethis HIL simulation setup, we test a Model Predictive Control approach formaximizing energy efficiency of CAVs in urban environments.

Hardware-In-the-Loop for Connected Automated Vehicles Testing in Real Traffic