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<p>The limitations of field testing capabilities present a significant challenge in evaluating the performance level of autonomous vehicle (AV) functionalities. Mixed reality (MR) with digital twin can facilitate performing tests because of reduction in costs and safety issues. However, one of the recent problems in the application of MR for evaluation purposes is the achievable low immersion level. This paper proposes a solution to the problem, and presents a use case through the implementation of a speed planner. The speed planner is implemented in a real test AV, together with an MR-based environment, and field tests are performed in urban context. This paper presents the effectiveness of the speed planner through simulations and AV tests, specifically in regard to the safe adaptation of the AV motion to the surrounding vehicles. Moreover, the test environment and the implementation process are presented in details, such as the test AV setup, the software structure, and the prediction process for achieving immersive MR visualization.</p>

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Speed planner implementation for autonomous vehicles in an urban context using mixed reality

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年11月17日

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  • Bence Jekl,
  • Zalán Deutsch,
  • Mihály Kopasz,
  • Erik Tóth,
  • Árpád Fehér,
  • Dániel Doba,
  • Balázs Németh,
  • Szilárd Aradi,
  • Tamás Tettamanti,
  • Vu Van Tan,
  • Péter Gáspár

摘要

The limitations of field testing capabilities present a significant challenge in evaluating the performance level of autonomous vehicle (AV) functionalities. Mixed reality (MR) with digital twin can facilitate performing tests because of reduction in costs and safety issues. However, one of the recent problems in the application of MR for evaluation purposes is the achievable low immersion level. This paper proposes a solution to the problem, and presents a use case through the implementation of a speed planner. The speed planner is implemented in a real test AV, together with an MR-based environment, and field tests are performed in urban context. This paper presents the effectiveness of the speed planner through simulations and AV tests, specifically in regard to the safe adaptation of the AV motion to the surrounding vehicles. Moreover, the test environment and the implementation process are presented in details, such as the test AV setup, the software structure, and the prediction process for achieving immersive MR visualization.