This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Multilevel Concept for Verification of Automated Driving Systems by Using Model in the Loop Simulations in Early Development Phases
Technical Paper
2022-01-0102
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Abstract
Due to the increasing complexity of Automated Driving Systems (ADS) in combination with the multitude of possible traffic scenarios, the question arises how the functionality of ADS should be verified in an early development phase. Since there is currently no comprehensive industrially feasible solution published, this paper addresses the verification of ADS by means of Model in the Loop (MiL) simulations in advance of real prototype testing. The vehicle dynamic behavior is represented by high fidelity multi-body simulation complete vehicle models and the considered driving functions are integrated into the simulation framework via standardized interfaces and are assessed by specific safety and comfort Key Performance Indicators. The developed solution can be subdivided into four phases. (1) First, the simulation environment is used to verify the driving functions based on standardized test scenarios. (2) Next, based on one-dimensional and multi-dimensional experimental designs, the robustness of the driving function is analyzed in the entire Operational Design Domain. (3) The third phase includes system behavior studies for specific scenarios. (4) In contrast to the scenario-based function verification considered so far, the MiL simulation is integrated into a validated closed-loop stochastic traffic flow simulation to perform an additional system verification within random traffic scenarios. For the explanation of the individual phases, exemplary simulation campaigns are used. The presented verification concept allows to verify an ADS before the first test drives are started and possible improvements can be objectively shown in advance.
Recommended Content
Authors
- Wolfgang Sinz - Magna Steyr Fahrzeugtechnik AG & Co KG
- Bernhard Angrosch - Magna Steyr Fahrzeugtechnik AG & Co KG
- Jens Gächter - Magna Steyr Fahrzeugtechnik AG & Co KG
- Bernhard Putsche - Magna Steyr Fahrzeugtechnik AG & Co KG
- Branko Rogic - Magna Steyr Fahrzeugtechnik AG & Co KG
- Stefan Bernsteiner - Magna Steyr Fahrzeugtechnik AG & Co KG
Citation
Sinz, W., Angrosch, B., Gächter, J., Putsche, B. et al., "Multilevel Concept for Verification of Automated Driving Systems by Using Model in the Loop Simulations in Early Development Phases," SAE Technical Paper 2022-01-0102, 2022, https://doi.org/10.4271/2022-01-0102.Also In
References
- World Health Organization 2018
- NHTSA 2017
- Sander , U. , Lubbe , N. , and Pietzsch , S. Intersection AEB Implementation Strategies for Left Turn Across Path Crashes Traffic Injury Prevention 20 sup1 2019 119 125 10.1080/15389588.2019.1602728
- Zavodjančík , T. , Kasanický , G. , and Demčáková , L. Reduction of Pedestrian Accidents - Automated Road Vehicles Transportation Research Procedia 55 2021 1605 1612 10.1016/j.trpro.2021.07.150
- Rajabli , N. , Flammini , F. , Nardone , R. , and Vittorini , V. Software Verification and Validation of Safe Autonomous Cars: A Systematic Literature Review IEEE Access 9 2021 4797 4819 10.1109/ACCESS.2020.3048047
- Albrecht , H. , Barickman , F. , and Schnelle , S. Advanced Test Tools for ADAS and ADS Washington, D.C. 20590, 1200 New Jersey Avenue, US 2021
- SAE International/ISO SAE J3016: Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles Geneva, Switzerland 2021
- Koopman , P. and Wagner , M. Challenges in Autonomous Vehicle Testing and Validation SAE International Journal of Transportation Safety 4 1 2016 15 24 10.4271/2016-01-0128
- Bargende , M. , Reuss , H.-C. , Wagner , A. , and Wiedemann , J. 20. Internationales Stuttgarter Symposium: Automobil- und Motorentechnik - Band 1 Michael Bargende, Hans-Christian Reuss, Andreas Wagner ISBN 978-3-658-29942-2 2020 10.1007/978-3-658-29943-9
- Schlager , B. , Muckenhuber , S. , Schmidt , S. , Holzer , H. et al. State-of-the-Art Sensor Models for Virtual Testing of Advanced Driver Assistance Systems/Autonomous Driving Functions SAE International Journal of Connected and Automated Vehicles 3 2020 233 261 10.4271/12-03-03-0018
- Batsch , F. , Kanarachos , S. , Cheah , M. , Ponticelli , R. et al. A Taxonomy of Validation Strategies to Ensure the Safe Operation of Highly Automated Vehicles Journal of Intelligent Transportation Systems 0 0 2020 1 20 10.1080/15472450.2020.1738231
- Hermans , T. , Ramaekers , P. , Denil , J. , de Meulenaere , P. , and Anthonis , J. Incorporation of AUTOSAR in an Embedded Systems Development Process: A Case Study 2011 37th EUROMICRO Conference on Software Engineering and Advanced Applications IEEE ISBN 978-1-4577-1027-8 2011 10.1109/SEAA.2011.45
- Thorn , E. , Kimmel , S. , and Chaka , M. DOT HS 812 623 - A Framework for Automated Driving System Testable Cases and Scenarios Washington, DC, US 2018
- Sotelo , M.A. Lateral Control Strategy for Autonomous Steering of Ackerman-Like Vehicles Robotics and Autonomous Systems 45 3-4 2003 223 233 10.1016/j.robot.2003.09.002
- Kong , J. , Pfeiffer , M. , Schildbach , G. , and Borrelli , F. Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design 2015 IEEE Intelligent Vehicles Symposium (IV) Institute of Electrical and Electronics Engineers Seoul, Korea 1094 1099 2015 10.1109/IVS.2015.7225830
- Viswanath , P. , Mody , M. , Nagori , S. , Jones , J. et al. Virtual Simulation Platforms for Automated Driving: Key Care-About and Usage Model Electronic Imaging 2018 17 2018 1 6 10.2352/ISSN.2470-1173.2018.17.AVM-164
- Meng , X. , Gan , H. , and Yan , Y. Simulation Test of Driving Assistance System Based on Virtual Scene Journal of Physics: Conference Series 12047 2019 10.1088/1742-6596/1419/1/012047
- Aeberhard , M. Object-Level Fusion for Surround Environment Perception in Automated Driving Applications Dortmund 2017
- Hartstern , M. , Rack , V. , Kaboli , M. , and Stork , W. Simulation-based Evaluation of Automotive Sensor Setups for Environmental Perception in Early Development Stages 2020 IEEE Intelligent Vehicles Symposium (IV) IEEE Las Vegas, USA ISBN 978-1-7281-6673-5 858 864 2020 10.1109/IV47402.2020.9304771
- Berk , M.J. Safety Assessment of Environment Perception in Automated Driving Vehicles Munich, Germany 2019
- Rosique , F. , Navarro , P.J. , Fernández , C. , and Padilla , A. A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research Sensors 19 3 2019 648 10.3390/s19030648
- Yeong , D.J. , Velasco-Hernandez , G. , Barry , J. , and Walsh , J. Sensor and Sensor Fusion Technology in Autonomous Vehicles: A Review Sensors 21 6 2021 10.3390/s21062140
- Hasirlioglu , S. 2020
- Holder , M.F. , Linnhoff , C. , Rosenberger , P. , Popp , C. , and Winner , H. Modeling and Simulation of Radar Sensor Artifacts for Virtual Testing of Autonomous Driving 9. Tagung Automatisiertes Fahren Lehrstuhl für Fahrzeugtechnik mit TÜV SÜD Akademie Munich, Germany 2019
- Schnelle , S. , Salaani , K. , Rao , S. , Barickman , F. , and Elsasser , D. 2019
- Son , T.D. , Hubrechts , J. , Awatsu , L. , Bhave , A. , and van der Auweraer , H. A Simulation-Based Testing and Validation Framework for ADAS Development 7th Transport Research Arena - TRA Transport Research Arena Vienna, Austria 2018
- Maurer , M. , Gerdes , J.C. , Lenz , B. , and Winner , H. Autonomous Driving: Technical, Legal and Social Aspects Springer Nature 2016 10.1007/978-3-662-48847-8 ISBN 978-3-662-48845-4
- Kalra , N. and Paddock , S.M. Driving to Safety: How Many Miles of Driving Would it Take to Demonstrate Autonomous Vehicle Reliability? Transportation Research Part A: Policy and Practice 94 2016 1 15
- Saigol , Z. and Peters , A. Verifying Automated Driving Systems in Simulation: Framework and Challenges 25th ITS World Congress 1 10 2018
- Riedmaier , S. , Ponn , T. , Ludwig , D. , Schick , B. et al. Survey on Scenario-Based Safety Assessment of Automated Vehicles IEEE Access 8 2020 87456 87477 10.1109/ACCESS.2020.2993730
- Khastgir , S. , Brewerton , S. , Thomas , J. , and Jennings , P. Systems Approach to Creating Test Scenarios for Automated Driving Systems Reliability Engineering & System Safety 215 2021 1 14 10.1016/j.ress.2021.107610
- Koopman , P. , Kane , A. , and Black , J. Credible Autonomy Safety Argumentation 27th Safety-Critical Systems Club Symposium Safety-Critical System Club Bristol, UK 2019
- Bolte , J.-A. , Bar , A. , Lipinski , D. , and Fingscheidt , T. Towards Corner Case Detection for Autonomous Driving 2019 IEEE Intelligent Vehicles Symposium (IV) Institute of Electrical and Electronics Engineers Paris, France 438 445 2019
- Fahrenkrog , F. , Schneider , M. , Naujoks , F. , Tango , F. , et al. L3Pilot - Draft Code-of-Practice for Automated Driving and Results from Pilot Application of Draft CoP Brussels, Belgium 2020 10.13140/RG.2.2.28149.40161
- Submitted by the experts of OICA 2019
- Kalisvaart , S. , Svanberg , E. , Barnard , Y. , Innamaa , S. , et al. 2021
- Riedmaier , S. , Schneider , D. , Watzenig , D. , Diermeyer , F. et al. Model Validation and Scenario Selection for Virtual-Based Homologation of Automated Vehicles Applied Sciences 11 1 2021 1 24 10.3390/app11010035
- Ma , X. , Hu , X. , Weber , T. , and Schramm , D. Traffic Simulation of Future Intelligent Vehicles in Duisburg City Inner Ring Applied Sciences 11 1 2021 1 12 10.3390/app11010029
- Nalic , D. , Li , H. , Eichberger , A. , Wellershaus , C. et al. Stress Testing Method for Scenario-Based Testing of Automated Driving Systems IEEE Access 8 2020 1 12 10.1109/ACCESS.2020.3044024
- Hoque , M.A. , Hong , X. , and Ahmed , M.S. Parallel Closed-Loop Connected Vehicle Simulator for Large-Scale Transportation Network Management: Challenges, Issues, and Solution Approaches IEEE Intelligent Transportation Systems Magazine 11 4 2018 62 77 10.1109/MITS.2018.2879163
- Hallerbach , S. , Xia , Y. , Eberle , U. , and Koester , F. Simulation-Based Identification of Critical Scenarios for Cooperative and Automated Vehicles SAE International Journal of Connected and Automated Vehicles 1 2018-01-1066 2018 93 106 10.4271/2018-01-1066
- Hallerbach , S. Simulation-Based Testing of Cooperative and Automated Vehicles Germany Oldenburg 2020
- Smirnov , N. , Liu , Y. , Validi , A. , Morales-Alvarez , W. et al. A Game Theory-Based Approach for Modeling Autonomous Vehicle Behavior in Congested, Urban Lane-Changing Scenarios Sensors1 21 4 2021 1 19 10.3390/s21041523
- Tian , R. , Li , N. , Kolmanovsky , I. , Yildiz , Y. et al. Game-Theoretic Modeling of Traffic in Unsignalized Intersection Network for Autonomous Vehicle Control Verification and Validation IEEE Transactions on Intelligent Transportation Systems 2020 1 16
- Sippl , C. , Bock , F. , Wittmann , D. , Altinger , H. , and German , R. From Simulation Data to Test Cases for Fully Automated Driving and ADAS IFIP International Conference on Testing Software and Systems 2016 10.1007/978-3-319-47443-4_12
- Stellet , J.E. , Woehrle , M. , Brade , T. , Poddey , A. , and Branz , W. Validation of Automated Driving - A Structured Analysis and Survey of Approaches 13. Workshop Fahrerassistenz und automatisiertes Fahren RWTH Aachen University 2020
- de Gelder , E. , Saberi , A.K. , and Elrofai , H. A Method for Scenario Risk Quantification for Automated Driving Systems - Paper Number: 19-0129 26th International Technical Conference on the Enhanced Safety of Vehicles (ESV): Technology: Enabling a Safer Tomorrow National Highway Traffic Safety Administration 2019
- Raffaelli , L. , Vallée , F. , Fayolle , G. , de Souza , P. , et al. 2016
- Weber , H. , Bock , J. , Klimke , J. , Roesener , C. et al. A Framework for Definition of Logical Scenarios for Safety Assurance of Automated Driving Traffic Injury Prevention 20 1 2019 65 70 10.1080/15389588.2019.1630827
- Pütz , A. , Zlocki , A. , Bock , J. , and Eckstein , L. System Validation of Highly Automated Vehicles with a Database of Relevant Traffic Scenarios 12th ITS European Congress Strasbourg, France E5 2017
- Nalic , D. , Mihalj , T. , Baeumler , M. , Lehmann , M. , et al. Scenario Based Testing of Automated Driving Systems: A Literature Survey - F2020-ACM-096 FISITA - Web Congress 2020 2020
- Roesener , C. , Fahrenkrog , F. , Uhlig , A. , and Eckstein , L. A Scenario-Based Assessment Approach for Automated Driving by Using Time Series Classification of Human-Driving Behaviour 19th International Conference on Intelligent Transportation Systems Institute of Electrical and Electronics Engineers Rio de Janeiro, Brazil 1360 1365 2016 10.1109/ITSC.2016.7795734
- Nalic , D. , Pandurevic , A. , Eichberger , A. , and Rogic , B. Design and Implementation of a Co-Simulation Framework for Testing of Automated Driving Systems Sustainability 12 24 2020 10.3390/su122410476
- Lattarulo , R. , Pérez , J. , and Dendaluce , M. A Complete Framework for Developing and Testing Automated Driving Controllers IFAC Papers On Line 50 1 2017 258 263 10.1016/j.ifacol.2017.08.043
- Rudigier , M. , Nestlinger , G. , Tong , K. , and Solmaz , S. Development and Verification of Infrastructure-Assisted Automated Driving Functions Electronics 10 17 2021 1 13 10.3390/electronics10172161
- Hussein , A. , Diaz-Álvarez , A. , Armingol , J.M. , and Olaverri-Monreal , C. 3CCoAutoSim: Simulator for Cooperative ADAS and Automated Vehicles 21st International Conference on Intelligent Transportation Systems (ITSC) Institute of Electrical and Electronics Engineers Maui, HI, US 3014 3019 2018 10.1109/ITSC.2018.8569512
- Wood , M. , Knobel , C. , Garbacik , N. , Wittmann , D. , et al. 2019
- 2019
- Berger , C. and Rumpe , B. 2014 10.1007/978-0-85729-772-3_10
- Singh , V. , Hari , S.K.S. , Tsai , T. , and Pitale , M. Simulation Driven Design and Test for Safety of AI Based Autonomous Vehicles Conference on Computer Vision and Pattern Recognition Workshops Institute of Electrical and Electronics Engineers Nashville, TN, USA 122 128 2021 10.1109/CVPRW53098.2021.00022
- Bernhard , J. , Esterle , K. , Hart , P. , and Kessler , T. BARK: Open Behavior Benchmarking in Multi-Agent Environments International Conference on Intelligent Robots and Systems Institute of Electrical and Electronics Engineers Las Vegas, NV, USA 6201 6208 2020 10.1109/IROS45743.2020.9341222
- Zhang , L. , Ding , W. , Chen , J. , and Shen , S. Efficient Uncertainty-Aware Decision-Making for Automated Driving Using Guided Branching International Conference on Robotics and Automation (ICRA) 2020 3291 3297 10.1109/ICRA40945.2020.9197302
- IPG Automotive GmbH https://ipg-automotive.com/en/ 2021
- The MathWorks, Inc. https://de.mathworks.com/ 2021
- PTV Planung Transport Verkehr AG https://company.ptvgroup.com/en/ 2021
- Stern , P. 2019
- International Standard - ISO 2018
- Bargende , M. , Reuss , H.-C. , Andreas , W. , and Jochen , W. 19. Internationales Stuttgarter Symposium - Automobil- und Motorentechnik Wiesbaden Springer Fachmedien Wiesbaden 2019 10.1007/978-3-658-25939-6 ISBN 978-3-658-25938-9
- Heidecker , F. , Breitenstein , J. , Rösch , K. , Löhdefink , J. , et al. 2021
- Wang , J. , Zhang , C. , Liu , Y. , and Zhang , Q. Traffic Sensory Data Classification by Quantifying Scenario Complexity IEEE Intelligent Vehicles Symposium (IV) Institute of Electrical and Electronics Engineers Changshu, China 1543 1548 2018 10.1109/IVS.2018.8500669
- Huang , L. , Xia , Q. , Xie , F. , Xiu , H.-L. , and Shu , H. Study on the Test Scenarios of Level 2 Automated Vehicles IEEE Intelligent Vehicles Symposium (IV) Institute of Electrical and Electronics Engineers Changshu, China 49 54 2018 10.1109/IVS.2018.8500600
- Federal Minister of Transport, I. and T 2016
- Riedmaier , S. , Nesensohn , J. , Gutenkunst , C. , Düser , T. , et al. Validation of X-in-the-Loop Approaches for Virtual Homologation of Automated Driving Functions 11th Graz Symposium Virtual Vehicle Virtual Vehicle Research GmbH Graz, Austria 2018
- Ponn , T. , Fratzke , D. , Gnandt , C. , and Lienkamp , M. Towards Certification of Autonomous Driving: Systematic Test Case Generation for a Comprehensive but Economically-Feasible Assessment of Lane Keeping Assist Algorithms 5th International Conference on Vehicle Technology and Intelligent Transport Systems SCITEPRESS - Science and Technology Publications Heraklion, Greece ISBN 978-989-758-374-2 2019 10.5220/0007678603330342
- Page , Y. , Fahrenkrog , F. , Fiorentino , A. , Fränzle , M. , et al. A Comprehensive and Harmonized Method for Assessing the Effectiveness of Advanced Driver Assistance Systems by Virtual Simulation: The P.E.A.R.S. Initiative - Paper Number 15-0370 24th International Technical Conference on the Enhanced Safety of Vehicles (ESV): Traffic Safety Through Integrated Technologies National Highway Traffic Safety Administration Gothenburg , Sweden 12 2015