‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System

Medientyp: Elektronischer Konferenzbericht

Titel: ‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System

Beteiligte: Redenius, Jannik [VerfasserIn]; Belau, Sven [VerfasserIn]; Irmer, Daniel [VerfasserIn]; Ruckelshausen, Arno [VerfasserIn]; Middelberg, Rene [VerfasserIn]; Spiekermann, Sebastian [VerfasserIn]; Bußmann, Christian [VerfasserIn]; Sellschopp, Till [VerfasserIn]; Hertzberg, Joachim [VerfasserIn]

Erschienen: Düsseldorf : VDI Verlag GmbH, 2019

Sprache: Englisch

ISBN: 978-3-18-092361-1

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Beschreibung: This paper describes the development and test of a novel LiDAR based combine harvester steering system using a harvest scenario and sensor point cloud simulation together with an established simulation toolchain for embedded software development. For a realistic sensor behavior simulation, considering the harvesting environment and the sensor mounting position, a phenomenological approach was chosen to build a multilayer LiDAR model at system level in Gazebo and ROS. A software-in-the-loop simulation of the mechatronic steering system was assembled by interfacing the commercial AppBase framework for point cloud processing and feature detection algorithms together with a machine model and control functions implemented in MATLAB/ Simulink. A test of ECUs in a hardware-in-the-loop simulation and as well as HMI elements in a driver-in-the-loop simulation was achieved by using CAN hardware interfaces and a CANoe based restbus simulation.

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