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

Table 1

Function list of PaTAVTT platform.

Autonomous vehicle trajectory control type	Description
Single-vehicle control
Vehicle longitudinal control	Start, stop, accelerate, decelerate
Vehicle lateral control	Turn left, turn right, serpentine
Lane-keeping control	According to the image captured by the camera to keep the vehicle driving in the lane
U-turn control	Turn the vehicle to reverse lane
Obstacle avoidance	Decelerate and change lane when the vehicle detects an obstacle
Platoon control
Vehicle following control	Verification of various vehicle following models
Lane changing controller	Vehicles automatically change lane in the case of security
Overtaking control	Vehicles overtake the front one and then return to the original lane
Intersection coordination	Vehicles pass through the intersection in an optimal way
Headway control	Control the vehicle headway to prevent collision