Abstract
New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.
Highlights
The simulation of sensor data of advanced driver assistance systems (ADAS) becomes more and more important
The paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality
Probabilistic models like [3] and [4] aim to simulate the phenomena of real radar sensors based on object lists generated in virtual environments, without a physical correct reproduction of the radar
Summary
The simulation of sensor data of advanced driver assistance systems (ADAS) becomes more and more important. Probabilistic models like [3] and [4] aim to simulate the phenomena of real radar sensors based on object lists generated in virtual environments, without a physical correct reproduction of the radar. These models are used to test the robustness of automated driving algorithms. There is a need for real-time capable simulation models that provide radar raw data in a sufficient quality for the virtual testing of such systems. A conclusion for the potentials and further work to be done is given
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