Use of Hardware in the Loop (HIL) Simulation for Developing Connected Autonomous Vehicle (CAV) Applications

Many smart cities and car manufacturers have been investing in Vehicle to Infrastructure (V2I) applications by integrating the Dedicated Short-Range Communication (DSRC) technology to improve the fuel economy, safety, and ride comfort for the end users. For example, Columbus, OH, USA is placing DSRC Road Side Units (RSU) to the traffic lights which will publish traffic light Signal Phase and Timing (SPaT) information. With DSRC On Board Unit (OBU) equipped vehicles, people will start benefiting from this technology. In this paper, to accelerate the V2I application development for Connected and Autonomous Vehicles (CAV), a Hardware in the Loop (HIL) simulator with DSRC RSU and OBU is presented. The developed HIL simulator environment is employed to implement, develop and evaluate V2I connected vehicle applications in a fast, safe and cost-effective manner. The prepared simulator allows realistic, real-time evaluation of mobility and fuel economy benefits over simulated actual routes in a safe lab setting before actual deployment in an experimental vehicle. To show the capabilities of the designed HIL simulator, Green-Wave algorithm, which lowers the idling time at the signalized intersections and improves fuel economy, is simulated.