Automated Testing of Ultrawideband Positioning for Autonomous Driving

Algorithm 1

(1)	class Car {
(2)	//Apply brake and wait until the car has stopped
(3)	def stopCar(): Unit = {…}
(4)	//Send the next trajectory part to the car and wait until
(5)	//it is almost finished. Returns true if the maximum difference
(6)	//between the UWB and RTK-SN position stayed below 1 m
(7)	def runSegments(route: List[RpPoint]): Boolean = {…}
(8)	//Drive the car back to its initial position and wait until it
(9)	//arrives. Returns true if successful, false otherwise.
(10)	def runRecoveryRoute(ri: RouteInfo, carRoute: Int): Boolean = {…}
(11)	//Add a fault to one of the probes
(12)	def addFault(probe: String, faultType: String,
(13)	param: Double, start: Int, duration: Int): Unit = {…}
(14)	//Clear all faults
(15)	def clearFaults(): Unit = {…}
(16)	//Set the UWB position equal to the RTK-SN position
(17)	//in order to start from a known state.
(18)	def resetUwbPosNow(): Unit = {…}
(19)	}