Fig. 1. Remote Control System Hardware Configuration
Fig. 2. IPG Simulation Software - TruckMaker
Fig. 3. CAN Receive & Transmit Block-set in Vehicle Network Toolbox(Matlab/Simulink)
Fig. 4. Remote Control Simulator Configuration
Fig. 5. Force-feedback Control algorithm Overview
Fig. 6. Results of Simulation: Vehicle-Simulator Steering angle Synchronization
Fig. 7. Results of Simulation: Steering Feel (a) Algorithm not applied (b) Algorithm applied
Fig. 8. Results of Simulation: Limitation of Operation (Steering)
Fig. 9. Simulation: Limitation of Steering Situation
Fig. 10. Results of Simulation: Transmit Warning Signals (Steering), Limitation of Operation(Acc/Brk)
Fig. 11. Simulation: Forward Collision Situation
Table 1. Specification of Unmanned Vehicle
Table 2. Control PC - Steering HW CAN Messages
Table 3. Control PC – Acc/Brk HW CAN Messages
Table 4. Steering HW Specification Requirement
Table 5. Acc/Brk Hardware Specification Requirement
References
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