Dynamic Vehicle-in-the-Loop: A Novel Method for Testing Automated Driving Functions
- Maikol Funk Drechsler - Technische Hochschule Ingolstadt, CARISSMA Institute of Automated Driving, Germany ,
- Varun Sharma - Technische Hochschule Ingolstadt, CARISSMA Institute of Automated Driving, Germany ,
- Fabio Reway - Technische Hochschule Ingolstadt, CARISSMA Institute of Automated Driving, Germany ,
- Christoph Schütz - BMW AG, Germany ,
- Werner Huber - Technische Hochschule Ingolstadt, CARISSMA Institute of Automated Driving, Germany
Journal Article
12-05-04-0029
ISSN: 2574-0741, e-ISSN: 2574-075X
Sector:
Topic:
Citation:
Drechsler, M., Sharma, V., Reway, F., Schütz, C. et al., "Dynamic Vehicle-in-the-Loop: A Novel Method for Testing Automated Driving Functions," SAE Intl. J CAV 5(4):367-380, 2022, https://doi.org/10.4271/12-05-04-0029.
Language:
English
Abstract:
In automated driving functions (ADF) testing, novel methods have been developed
to allow the combination of hardware and simulation to ensure safety in usage
even at an early stage of development. This article proposes an architecture to
integrate an entire test vehicle—denominated Dynamic Vehicle-in-the-Loop
(DynViL)—in a virtual environment. This approach enables the interaction of a
real vehicle with virtual traffic participants. The vehicle is physically tested
on an empty track, but connected to the CARLA simulator, in which virtual
driving scenarios are created. The simulated environment is transmitted to the
vehicle driving function which controls the real vehicle in reaction to the
virtual objects perceived in simulation. Furthermore, the performance of the
DynViL in different test scenarios is evaluated. The results show that the
reproducibility of the tests with the DynViL is satisfactory. Furthermore, the
results indicate that the deviation between simulation and DynViL variates
according to the vehicle speed and the complexity of the scenario. Based on the
performance of the DynViL in comparison to simulation, the DynViL can be
implemented as a complementary test method to be added to the transition between
hardware in the loop (HiL) and proving ground. In this test method, erratic or
unexpected behavior generated by the driving function and controllers can be
detected in the real vehicle dynamics in a risk-free manner.