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This paper presents a methodology for designing a simple open-loop steering robot profile to simulate a double lane change maneuver for track testing of a heavy tractor/trailer combination vehicle. For track testing of vehicles in a lane change type of maneuver, a human driver is typically used with a desired path defined with visual cues such as traffic cones. Such tests have been shown to result in poor test repeatability due to natural variation in driver steering behavior. While a steering robot may be used to overcome this repeatability issue, such a robot typically implements open-loop maneuvers and cannot be guaranteed to cause the vehicle to accurately follow a pre-determined trajectory. This paper presents a method using offline simulation to design an open-loop steering maneuver resulting in a realistic approximation of a double lane change maneuver.

The increasing use of rapid prototyping and hardware-in-the-loop (HIL) testing in the design process for embedded control applications motivates the need for a standard, portable, scalable real-time system that interfaces to control design software. This paper will discuss tools that are used to implement control designs and simulation models in real-time, as well as a case study of one such application. In addition, the paper will discuss tradeoffs between the use of the same real-time platform for both control prototyping and hardware-in-the-loop simulation and the use of different platforms for each task. The tradeoffs between the use of custom solutions for these applications and the use of commercial off-the-shelf hardware will also be discussed.