@inproceedings{RedeniusBelauIrmeretal.2019, author = {Jannik Redenius and Sven Belau and Daniel Irmer and Arno Ruckelshausen and Rene Middelberg and Sebastian Spiekermann and Christian Bu{\"s}mann and Till Sellschopp and Joachim Hertzberg}, title = {‘Virtual Harvesting’ as a Key Element in the Development of a novel LiDAR based Combine Harvester Steering System}, series = {VDI-Berichte}, volume = {2361}, publisher = {VDI Verlag GmbH}, address = {D{\"u}sseldorf}, isbn = {978-3-18-092361-1}, issn = {0083-5560}, url = {https://nbn-resolving.org/urn:nbn:de:bsz:959-opus-15851}, pages = {173 -- 178}, year = {2019}, abstract = {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.}, language = {en} }