This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Simulation Study to Evaluate Robustness of the Lane Centering Feature
Technical Paper
2021-01-0109
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE WCX Digital Summit
Language:
English
Abstract
The advances in automotive technology continue to deliver safety and driving comfort benefits to the society. The Automated Driving Assistance System (ADAS) technology is at the forefront of this evolution. Today, various vehicle models on the road have features like lane keeping assist, lane centering, automated emergency braking, adaptive cruise control, traffic jam assist etc. During early development, such feature algorithms often assume ideal environmental and vehicle conditions while doing a performance evaluation. This study focuses on the use of simulation platform to evaluate robustness of the lane centering ADAS feature in presence of various factor variations. The feature considered here is an end-to-end feature, i.e., from camera sensor output to steering actuation. The use of closed-loop simulation tools is well recognized in automotive industry for early requirements validation as well as robustness study. However, it has been traditionally used mainly for vehicle actuator controls rather than ADAS features. For our study, variations such as road geometry, vehicle loading, steering bias etc. are considered. The performance metric of the lane centering feature is presented, for the base case as well as in the presence of these variations, to highlight real life challenges encountered while developing such feature algorithms. Furthermore, some control algorithm modification is suggested to reduce such variation where necessary. This study will help understand impact of variations on algorithm performance, and how to use the simulation tools to understand as well as tackle such challenges.
Recommended Content
Authors
Topic
Citation
Varunjikar, T., Awathe, A., Kushwaha, P., and Chen, C., "Simulation Study to Evaluate Robustness of the Lane Centering Feature," SAE Technical Paper 2021-01-0109, 2021, https://doi.org/10.4271/2021-01-0109.Also In
References
- www.nhtsa.gov
- Snider , J.M. 2009
- Lee , J.-W. et al. A Unified Framework of the Automated Lane Centering/Changing Control for Motion Smoothness Adaptation 2012 15th International IEEE Conference on Intelligent Transportation Systems Anchorage, Alaska, USA September 16-19 2012
- Dixit , S. et al. Trajectory Planning and Tracking for Autonomous Overtaking: State-of-the-Art and Future Prospects Annual Review in Control 45 76 86 2018
- Werling et al. Invariant Trajectory Tracking With a Full-Size Autonomous Road Vehicle Article in IEEE Transactions on Robotics 2010
- et al. Motion Planning under Perception and Control Uncertainties with Space Exploration Guided Heuristic Search 2017 IEEE Intelligent Vehicles Symposium (IV)
- Werling et al. Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame Conference Paper in Proceedings - IEEE International Conference on Robotics and Automation 2010
- Gillespie , T.D. Fundamentals of Vehicle Dynamics 1992
- https://ipg-automotive.com/products-services/simulation-software/carmaker/
- Pacejka , H. Tire and Vehicle Dynamics 3rd Butterworth-Heinemann April 23, 2012
- A Policy on Geometric Design Highways and Streets Green Book 7th American Association of State Highway and Transportation Officials (AASHTO) 2018