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Journal of Advanced Transportation
Volume 2017 (2017), Article ID 9203251, 11 pages
Research Article

PaTAVTT: A Hardware-in-the-Loop Scaled Platform for Testing Autonomous Vehicle Trajectory Tracking

1School of Information Engineering, Chang’an University, Xi’an, Shaanxi, China
2Qilu Bank Corporation Limited, No. 176 Shunhe St, Jinan, Shandong, China
3College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, Zhejiang, China
4Griffith School of Engineering, Griffith University, Gold Coast Campus, Southport, 4222 QLD, Australia

Correspondence should be addressed to Jin Zhang

Received 11 May 2017; Revised 4 September 2017; Accepted 24 September 2017; Published 13 November 2017

Academic Editor: Vinayak Dixit

Copyright © 2017 Zhigang Xu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


With the advent of autonomous vehicles, in particular its adaptability to harsh conditions, the research and development of autonomous vehicles attract significant attention by not only academia but also practitioners. Due to the high risk, high cost, and difficulty to test autonomous vehicles under harsh conditions, the hardware-in-the-loop (HIL) scaled platform has been proposed as it is a safe, inexpensive, and effective test method. This platform system consists of scaled autonomous vehicle, scaled roadway, monitoring center, transmission device, positioning device, and computers. This paper uses a case of the development process of tracking control for high-speed U-turn to build the tracking control function. Further, a simplified vehicle dynamics model and a trajectory tracking algorithm have been considered to build the simulation test. The experiment results demonstrate the effectiveness of the HIL scaled platform.