Make Your Bench Testbed Driving: A Hybrid Testbed for Automated Driving Development and Testing

In this paper, we proposed a hybrid testbed for automated driving development and testing, built on an automotive testbed that did not have automated driving functions originally. Our testbed utilized driving simulation software, automated driving software, and an automotive testbed with real ECUs and in-vehicle networks from BMW Series 3 with default factory settings. By using our hybrid testbed, we were able to find issues in hardware that impact the functionality and robustness of high-speed automated driving, which is impossible to achieve by other methods before the real-world testing. This capability of our hybrid testbed can help to reduce the cost by identifying and fixing issues in hardware in an earlier testing step than the realworld testing.