Info

IEEE/SICE International Symposium on System Integration (SII 2026)

2026

Abstract

Autonomous vehicles development has gained high interest around the world since more than two decades. In addition, a steering in the mentality of development has been observed. It consists of putting more emphasis on simulation, which is becoming very reliable, and pushing the prototyping to the latest stages of development. In this mindset, the work presented here was developed. In fact, two applications for offroad vehicles have been simulated. The vehicle tool simulation used is 4DV-Sim that is based on PhysX, an open source engine. The first application features a straddle agricultural tractor that moves across row crops, while the second shows a tractor equipped with a mower arm that mows grass along the road. Conventional controllers and AI-based ones are explored. Virtual sensors such as 2D cameras, LiDARS, and odometry are used. Additionally, co-simulation tools are employed. Finally, the current simulation mode is Software-in-the-loop (SIL) and runs in real-time, preparing the terrain for subsequent tests in modes Hardware-in-the-loop (HIL), Vehicle-in-the-loop (VIL) and Driver-in-the-loop (DIL).