{"id":"https://openalex.org/W2947304855","doi":"https://doi.org/10.1109/tiv.2019.2919457","title":"Hardware-in-the-Loop Autonomous Driving Simulation Without Real-Time Constraints","display_name":"Hardware-in-the-Loop Autonomous Driving Simulation Without Real-Time Constraints","publication_year":2019,"publication_date":"2019-05-28","ids":{"openalex":"https://openalex.org/W2947304855","doi":"https://doi.org/10.1109/tiv.2019.2919457","mag":"2947304855"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2019.2919457","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2019.2919457","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034556567","display_name":"Craig Brogle","orcid":"https://orcid.org/0000-0002-5033-563X"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Craig Brogle","raw_affiliation_strings":["REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia"],"affiliations":[{"raw_affiliation_string":"REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100706155","display_name":"Chao Zhang","orcid":"https://orcid.org/0000-0002-8840-5031"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chao Zhang","raw_affiliation_strings":["REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia"],"affiliations":[{"raw_affiliation_string":"REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057254283","display_name":"Kai Li Lim","orcid":"https://orcid.org/0000-0002-9278-0344"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kai Li Lim","raw_affiliation_strings":["REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia"],"affiliations":[{"raw_affiliation_string":"REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023652725","display_name":"Thomas Br\u00e4unl","orcid":"https://orcid.org/0000-0003-3215-0161"},"institutions":[{"id":"https://openalex.org/I177877127","display_name":"The University of Western Australia","ror":"https://ror.org/047272k79","country_code":"AU","type":"education","lineage":["https://openalex.org/I177877127"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thomas Braunl","raw_affiliation_strings":["REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia"],"affiliations":[{"raw_affiliation_string":"REV Project at the Department of Electrical, Electronic and Computer Engineering, The University of Western Australia, Perth, WA, Australia","institution_ids":["https://openalex.org/I177877127"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034556567"],"corresponding_institution_ids":["https://openalex.org/I177877127"],"apc_list":null,"apc_paid":null,"fwci":1.7855,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.85604546,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"4","issue":"3","first_page":"375","last_page":"384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.7644383907318115},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.6892947554588318},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850828289985657},{"id":"https://openalex.org/keywords/real-time-simulation","display_name":"Real-time simulation","score":0.5416515469551086},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4921802580356598},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47842246294021606},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.4637622833251953},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44427230954170227},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3204095959663391},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2079799771308899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13492807745933533}],"concepts":[{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.7644383907318115},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.6892947554588318},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850828289985657},{"id":"https://openalex.org/C2781469108","wikidata":"https://www.wikidata.org/wiki/Q7300799","display_name":"Real-time simulation","level":2,"score":0.5416515469551086},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4921802580356598},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47842246294021606},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4637622833251953},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44427230954170227},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3204095959663391},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2079799771308899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13492807745933533},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2019.2919457","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2019.2919457","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/bdd4d5bb-c837-4845-b623-cbcbdd568b05","is_oa":false,"landing_page_url":"https://research-repository.uwa.edu.au/en/publications/bdd4d5bb-c837-4845-b623-cbcbdd568b05","pdf_url":null,"source":{"id":"https://openalex.org/S4306402523","display_name":"UWA Profiles and Research Repository (University of Western Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177877127","host_organization_name":"The University of Western Australia","host_organization_lineage":["https://openalex.org/I177877127"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Brogle , C , Zhang , C , Lim , K L &amp; Braunl , T 2019 , Hardware-in-the-Loop Autonomous Driving Simulation Without Real-Time Constraints . in IEEE Transactions on Intelligent Vehicles . 3 edn , vol. 4 , 8723564 , IEEE Transactions on Intelligent Vehicles , IEEE, Institute of Electrical and Electronics Engineers , pp. 375-384 , 2018 IEEE Intelligent Vehicles Symposium, IV 2018 , Changshu, Suzhou , China , 26/09/18 . https://doi.org/10.1109/TIV.2019.2919457","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W97979762","https://openalex.org/W1549639709","https://openalex.org/W1749572303","https://openalex.org/W1975680478","https://openalex.org/W1980491204","https://openalex.org/W1998704456","https://openalex.org/W2125281025","https://openalex.org/W2521921275","https://openalex.org/W2567065076","https://openalex.org/W2896439143","https://openalex.org/W2962867954","https://openalex.org/W4295719664","https://openalex.org/W6731522235","https://openalex.org/W6745935785","https://openalex.org/W6939871520"],"related_works":["https://openalex.org/W2463778897","https://openalex.org/W1513932870","https://openalex.org/W2092582387","https://openalex.org/W2046210573","https://openalex.org/W2375813595","https://openalex.org/W4200001041","https://openalex.org/W2129248935","https://openalex.org/W2352406723","https://openalex.org/W1522687719","https://openalex.org/W3028249241"],"abstract_inverted_index":{"Simulation":[0,26],"is":[1,20,70],"a":[2,33,62,146],"cornerstone":[3],"of":[4,35,141],"autonomous":[5,95,148],"driving":[6,130,149],"efforts,":[7],"allowing":[8],"testing":[9],"to":[10,31,43,54,74,77,81,90,100],"occur":[11],"more":[12],"rapidly":[13],"and":[14,39,51,85,125,138],"with":[15,22,128],"significantly":[16],"less":[17],"risk":[18],"than":[19],"possible":[21],"hardware":[23,88,150],"platforms":[24],"alone.":[25],"systems":[27],"must":[28],"be":[29,55],"able":[30],"emulate":[32],"variety":[34],"sensors":[36,79],"including":[37],"cameras":[38],"LiDARs":[40],"in":[41,98],"order":[42,99],"allow":[44],"high-level":[45,83],"software":[46,117],"such":[47],"as":[48],"image":[49],"processing":[50,106],"path":[52],"planning":[53],"tested.":[56],"In":[57,108],"this":[58],"paper,":[59],"we":[60,110,133],"present":[61],"hardware-in-the-loop":[63],"simulation":[64],"system":[65,115,144],"without":[66],"real-time":[67],"constraints.":[68],"It":[69],"based":[71,116],"on":[72,93,120],"CARLA":[73],"give":[75],"access":[76],"the":[78,112,121,129,135,142],"required":[80],"test":[82],"software,":[84],"incorporates":[86],"compute":[87],"identical":[89],"that":[91],"used":[92,119],"an":[94],"vehicle":[96,124,139],"platform":[97],"provide":[101],"realistic":[102],"constraints":[103],"regarding":[104],"available":[105],"power.":[107],"addition,":[109],"explore":[111],"robot":[113],"operating":[114],"framework":[118],"Formula":[122],"SAE":[123],"its":[126],"integration":[127],"simulator.":[131],"Finally,":[132],"validate":[134],"sensor":[136],"outputs":[137],"dynamics":[140],"simulated":[143],"against":[145],"physical":[147],"platform.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
