Research Article
Automated Testing of Ultrawideband Positioning for Autonomous Driving
(1) | class Car { | (2) | //Apply brake and wait until the car has stopped | (3) | def stopCar(): Unit = {…} | (4) | //Send the next trajectory part to the car and wait until | (5) | //it is almost finished. Returns true if the maximum difference | (6) | //between the UWB and RTK-SN position stayed below 1 m | (7) | def runSegments(route: List[RpPoint]): Boolean = {…} | (8) | //Drive the car back to its initial position and wait until it | (9) | //arrives. Returns true if successful, false otherwise. | (10) | def runRecoveryRoute(ri: RouteInfo, carRoute: Int): Boolean = {…} | (11) | //Add a fault to one of the probes | (12) | def addFault(probe: String, faultType: String, | (13) | param: Double, start: Int, duration: Int): Unit = {…} | (14) | //Clear all faults | (15) | def clearFaults(): Unit = {…} | (16) | //Set the UWB position equal to the RTK-SN position | (17) | //in order to start from a known state. | (18) | def resetUwbPosNow(): Unit = {…} | (19) | } |
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