Detailed Simulation of Autonomous Systems for Off-highway Applications

This article delves into the complexities of developing and testing autonomous systems for off-highway applications, such as mining, construction, agriculture, and forestry. It emphasizes the need for tailored simulation environments that can handle dynamic changes in the environment and sensor contamination, which are unique to off-highway scenarios. The article discusses the importance of closed-loop simulations for integrating ADAS/AD systems, focusing on three key areas: environment and scenarios, sensor realism, and realistic vehicle dynamics. It highlights the use of 3-D-based approaches for environment modeling and the simulation of sensor technologies like cameras, lidar, and radar. Additionally, the article presents a real-time-capable model for simulating the interaction of track drives on soft ground, demonstrating its effectiveness through comparisons with detailed MBS models. The conclusion underscores the potential of ADAS/AD systems to revolutionize off-highway industries by increasing productivity, safety, and cost efficiency, while acknowledging the special features that need to be considered for off-highway applications.