Simulador para validación de funcionalidades con vehículos automatizados de competición

Miguel Oroz; Alberto Colmenero Fernández; Joshué Pérez Rastelli

doi:10.17979/ja-cea.2025.46.12075

Authors

Miguel Oroz Universidad de Navarra
Alberto Colmenero Fernández Universidad de Navarra
Joshué Pérez Rastelli CEIT-Basque Research and Technology Alliance (BRTA)

DOI:

https://doi.org/10.17979/ja-cea.2025.46.12075

Keywords:

Autonomous vehicles, Simulation, Sensor integration and perception, Intelligent transportation systems

Abstract

Automated vehicles represent one of the most innovative and challenging areas within the fields of automotive engineering and automation. Their applications range from urban transportation and highways to high-performance competitions. In this context, virtual validation of functionalities has become a key tool to accelerate development and validate these systems before testing them on real platforms.This work presents MirenaSim, the implementation of a full-loop open-source simulator M. Oroz and A.Colmenero (2025), developed under the MIT license, as a validation tool for Tecnun eRacing’s autonomous racing vehicle. The simulator enables testing and debugging of critical functionalities of the autonomous system—such as trajectory planning, vehicle control, and environment perception—in a safe and reproducible virtual environment. Thanks to this tool, the team has achieved significant progress in the development and reliability of the autonomous system, reducing testing time and improving the quality of some of its most important functionalities.

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