This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Application Oriented Testcase Generation for Validation of Environment Perception Sensor in Automated Driving Systems
Technical Paper
2018-01-1614
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Validation is one of the main challenges in development of automated driving systems (ADS). Due to the complexity of these systems and the various influence factors on their functional safety, current testcase generation methods can hardly guarantee the completeness and effectivity of the validation on system level. Separate validation of system components is a way to make system approval possible. In this paper, an approach is presented to generate deductively testcases for the validation of the environment perception sensors, which are the most essential components of ADS. This approach is originated from the model-based testing method, which is commonly used to validate software-based systems and extended by considering various external influence factors as follows: By modeling and analyzing applications in ADS, application oriented usecases of perception sensors are first derived. Based on a classification of perception sensor errors, the sensor error types that are critical for each usecase are identified. Meanwhile, based on sensor working principle, the correspondence between external influence factors and each sensor error type are summarized in a morphological box. By combining the factors, which can “stimulate” a certain sensor error type that is critical for usecases, testcases can be generated. As an example, adaptive cruise control (ACC) system is analyzed as application in level 3 system instead of level 1 function in reality. This paper presents a structured deduction of testcases to make a complete validation of perception sensor for ADS possible. Some possibilities of testcase reduction and an outlook for further development and utilization are presented as well.
Recommended Content
Topic
Citation
Cao, P. and Huang, L., "Application Oriented Testcase Generation for Validation of Environment Perception Sensor in Automated Driving Systems," SAE Technical Paper 2018-01-1614, 2018, https://doi.org/10.4271/2018-01-1614.Also In
References
- SAE International Automated Driving - Levels of Driving Automation are Defined in New SAE International Standard J3016 https://www.sae.org/misc/pdfs/automated_driving.pdf 2017
- Winner , H. , Hakuli , S. , Lotz , F. , and Singer , C. Handbook of Driver Assistance Systems Cham Springer International Publishing 2016 917 1396 10.1007/978-3-319-12352-3
- Daimler AG Mercedes-Benz Intelligent Drive https://www.mercedes-benz.com/de/mercedes-benz/innovation/mercedes-benz-intelligent-drive/ 2017
- BMW AG BMW 7er Limousine: Fahrerassistenz http://www.bmw.de/de/neufahrzeuge/7er/limousine/2015/fahrerassistenz.html 2017
- The Lincoln Motor Company 2017 Lincoln MKZ Technology Features - Lincoln Motor Company™ -Luxury Cars - Lincoln.com https://www.lincoln.com/luxury-cars/mkz/2017/features/technology/ 2017
- Aeberhard , M. , Rauch , S. , Bahram , M. , Tanzmeister , G. et al. Experience, Results and Lessons Learned from Automated Driving on Germany’s Highways IEEE Intelligent Transportation Systems Magazine 1 7 42 57 2015 10.1109/MITS.2014.2360306
- Kammel , S. , Ziegler , J. , Pitzer , B. , Werling , M. et al. Team Annie WAY’s Autonomous System for the 2007 DARPA Urban Challenge Journal of Field Robotics 9 25 615 639 2008 10.1002/rob.20252
- Thrun , S. , Montemerlo , M. , Dahlkamp , H. , Stavens , D. et al. Stanley: The Robot That Won the DARPA Grand Challenge Journal of Field Robotics 9 23 661 692 2006
- Waymo Journey - Waymo https://waymo.com/journey/ 2017
- Schwarz , J. Oceans IEEE 2006
- Donner , E. , Winkle , T. , Walz , R. , and Schwarz , J. RESPONSE 3 - ‘Code of Practice’ für die Entwicklung, Validierung und Markteinführung von Fahrerassistenzsystemen VDA Technischer Kongress 2007 Sindelfingen 2007
- Wachenfeld , W. and Winner , H. Die Freigabe des autonomen Fahrens Maurer , M. , Gerdes , J. C. , Lenz , B. , and Winner , H. Autonomes Fahren Springer Vieweg 2015 10.1007/978-3-662-45854-9_21
- Schubert , R. , Mattern , N. , and Bours , R. Simulation of Sensor Models for the Evaluation of Advanced Driver Assistance Systems ATZ Worldwide 9 3 26 29 2014
- Schöner , H.P. Challenges and Approaches for Testing of Highly Automated Vehicles Langheim , J. Energy Consumption and Autonomous Driving, Lecture Notes in Mobility First Edition Cham Springer International Publishing 2016 10.1007/978-3-319-19818-7_11
- Cao , P. , Wachenfeld , W. , and Winner , H. Perception Sensor Modeling for Virtual Validation of Automated Driving It - Information Technology 57 4 243 251 2015
- Singer , C. Methods for Change Management in Automotive Release Processes Maurer , M. and Winner , H. Automotive Systems Engineering II Apress 2015 31 58 10.1007/978-3-319-61607-0_2
- Horstmann , M. 2005
- Weitzel , A. , Winner , H. , Cao , P. , Geyer , S. et al. Absicherungsstrategien für Fahrerassistenzsysteme mit Umfeldwahrnehmung Berichte der Bundesanstalt für Straßen wesen-Fahrzeugtechnik Bremerhaven 2014
- Friske , M. and Schlingloff , B.H. 2005
- Kiffe , G. , Siegl , S. , Prester , F. , Beisser , M. et al. ATZelektronik 56 60 2009
- Rupp , C. and Queins , S. Vom Use-Case zum Test-Case-strategische Partner für Ihren Projekterfolg https://www.sophist.de/fileadmin/SOPHIST/Puplikationen/re6/Kapitel_09/Vom_Use-Case_zum_Test-Case_-_10.09.2014.pdf 2017
- Rupp , C. and Queins , S. Testen mit Use-Cases TAV 20 2003
- Swain , S.K. , Mohapatra , D.P. , and Mall , R. International Journal of Software Engineering 96 120 2010
- Amersbach , C. and Winner H. Functional Decomposition, an Approach to Reduce the Approval Effort for Highly Automated Driving 8. Tagung Fahrerassistenz Munich 2017
- ISO/TC 204 Intelligent Transport Systems 2010
- Winner , H. and Schopper , M. Adaptive Cruise Control Winner , H. , Hakuli , S. , Lotz , F. , and Singer , C. Handbook of Driver Assistance Systems Springer International Publishing 2016 1095 1128 10.1007/978-3-319-12352-3
- Darms , M. , Rybski , P. , and Urmson , C. Classification and Tracking of Dynamic Objects with Multiple Sensors for Autonomous Driving in Urban Environments Intelligent Vehicles Symposium the Netherlands 2008
- Bartsch , A. , Fitzek , F. , and Rasshofer , R.H. Advances in Radio Science 45 55 2012
- Li , Q. , Chen , L. , Li , M. , Shaw , S. et al. IEEE Transactions on Vehicular Technology 2014
- Hanke , T. , Hirsenkorn , N. , and Dehlink , B. Classification of Sensor Errors for the Statistical Simulation of Environmental Perception in Automated Driving Systems IEEE International Conference on Intelligent Transportation Systems 2016