This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Creating Driving Scenarios from Recorded Vehicle Data for Validating Lane Centering System in Highway Traffic
Technical Paper
2020-01-0718
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
The adoption of simulation is critical to reducing development time and enhancing system robustness for Advanced Driver Assistance Systems (ADAS). Automotive companies typically have an abundance of real data recorded from a vehicle which is suitable for open-loop simulations. However, recorded data is often not suitable to test closed-loop control systems since the recorded data cannot react to changes in vehicle movement. This paper introduces a methodology to create virtual driving scenarios from recorded vehicle data to enable closed-loop simulation. This methodology is applied to test a lane centering application. A lane centering application helps a driver control steering to stay in the current lane and control acceleration and braking to maintain a set speed or to follow a preceding vehicle. The driver’s vehicle is referred to as the ego vehicle. Other vehicles on the road are referred to as target vehicles. To test the lane centering system in simulation, engineers must model the ego vehicle (sensors and dynamics) as well as the scenario (roads and target vehicles). A virtual driving scenario is created by reconstructing roads and target vehicles using GPS, camera-based lane detections, radar-based vehicle detections, and map data. The virtual driving scenario is integrated into a closed-loop simulation to assess the behavior of a lane centering system.
Recommended Content
Technical Paper | Overview and Use of SAE J2735 Message Sets for Commercial Vehicles |
Ground Vehicle Standard | Active Safety System Sensors |
Ground Vehicle Standard | Fuel Consumption Test Procedure - Type II |
Authors
Topic
Citation
Park, S., Patil, K., Wilson, W., Corless, M. et al., "Creating Driving Scenarios from Recorded Vehicle Data for Validating Lane Centering System in Highway Traffic," SAE Technical Paper 2020-01-0718, 2020, https://doi.org/10.4271/2020-01-0718.Also In
References
- National Highway Traffic Safety Administration 2018
- SAE J 3016-2018 2018
- Zofka , M.R. et al. Testing and Validating High Level Components for Automated Driving: Simulation Framework for Traffic Scenarios IEEE Intelligent Vehicles Symposium 2016
- Menzel , T. et al. Scenarios for Development, Test and Validation of Automated Vehicles IEEE Intelligent Vehicles Symposium 2018
- Martinelli , F. , Stevenin , F. , Park , S.-W. , and Corless , M. 2019
- Yang , Z. et al. Exploring Open Street Map Availability for Driving Environment Understanding IEEE Intelligent Vehicles Symposium 2018
- Zilske , M. et al. Open Street Map for Traffic Simulation Proceedings of the 1st European State of the Map:Open Street Map Conference 2011
- https://www.mathworks.com/products/automated-driving.html
- Orfanidis , S.J. Introduction to Signal Processing Englewood Cliffs, NJ Prentice-Hall 1996