Abstract

Classical approaches and procedures for testing of automated vehicles of SAE levels 1 and 2 were based on defined scenarios with specific maneuvers, depending on the function under test. For automated driving systems (ADS) of SAE level 3+, the scenario space is infinite and calling for virtual testing and verification. However, even in simulation, the generation of safety-relevant scenarios for ADS is expensive and time-consuming. This leads to a demand for stochastic and realistic traffic simulation. Therefore, microscopic traffic flow simulation models (TFSM) are becoming a crucial part of scenario-based testing of ADS. In this paper, a co-simulation between the multi-body simulation software IPG CarMaker and the microscopic traffic flow simulation software (TFSS) PTV Vissim is used. Although the TFSS could provide realistic and stochastic behavior of the traffic participants, safety-critical scenarios (SCS) occur rarely. In order to avoid this, a novel Stress Testing Method (STM) is introduced. With this method, traffic participants are manipulated via external driver DLL interface from PTV Vissim in the vicinity of the vehicle under test in order to provoke defined critical maneuvers derived from statistical accident data on highways in Austria. These external driver models imitate human driving errors, resulting in an increase of safety-critical scenarios. As a result, the presented STM method contributes to an increase of safety-relevant scenarios for verification, testing and assessment of ADS.

Highlights

  • Testing of automated driving systems (ADS) using traffic flow simulation software (TFSS) is an inevitable part of virtual testing procedures

  • For the increase of the number of scenarios relevant for testing of ADS, the Vissim traffic is featured with the stress testing method (STM) using an external driver model dynamic link library (DLL) interface

  • According to the metrics defined in [42] very critical and eventually critical scenarios increase significantly compared to the co-simulation without the STM

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Summary

INTRODUCTION

Testing of ADS using TFSS is an inevitable part of virtual testing procedures. The demand on test kilometers emphasized in the works of [1], [2] and the simulation-based testing in complex virtual environments with objects, traffic, pedestrians, etc., is needed for valid and representative simulation results. The presented STM is used to increase the number of SCS for virtual scenario-based testing where TFM are considered in the simulation e.g. in [7]–[9]. To avoid this lack of errors, statistical accident data from Austrian motorways provided from [10] were examined for accident types that occur most frequently. In the context of this work an event represents a maneuver which is provoked to bring the EGO vehicle in a stress condition How these events are defined is described in the following steps.

ACCELERATION AND DECELERATION BEHAVIOUR
RESULTS
CONCLUSION
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