Abstract

Virtual testing using simulation will play a significant role in future safety validation procedures for automated driving systems, as it provides the needed scalability for executing a scenario-based assessment approach. This article combines multiple essential aspects that are necessary for the virtual validation of such systems. First, a general framework that contains the vital subsystems needed for virtual validation is introduced. Secondly, the interfaces between the subsystems are explored. Additionally, the concept of model fidelities is presented and extended towards all relevant subsystems. For an automated lane-keeping system with two different definitions of an operational design domain, all relevant subsystems are defined and integrated into an overall simulation framework. The resulting difference between both operational design domains is the occurrence of lateral manoeuvres, leading to greater demands of the fidelity of the vehicle dynamics model. The simulation results support the initial assumption that by extending the operation domain, the requirements for all subsystems are subject to adaption. As an essential aspect of harmonising virtual validation frameworks, the article identifies four separate layers and their corresponding parameters. In particular, the tool-specific co-simulation capability layer is critical, as it enables model exchange through consistently defined interfaces and reduces the integration effort. The introduction of this layered architecture for virtual validation frameworks enables further cross-domain collaboration.

Highlights

  • Based on information from the World Health Organization, the number of traffic deaths occurring annually is rising steadily, reaching 1.35 million in 2016

  • Model fidelity was only discussed regarding the sensor models and in the vehicle dynamics model domain; this was in a different context

  • The operational design domain (ODD) defined from the respective automated driving system (ADS) is linked to the required model fidelities of the subsystems

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Summary

Introduction

Based on information from the World Health Organization, the number of traffic deaths occurring annually is rising steadily, reaching 1.35 million in 2016. SAE levels 0–2 are defined as partial automation, which means systems (e.g., various ADAS available on the market) take over part of the dynamic driving task (DDT) but the driver has to monitor the environment all the time and intervene if necessary. For SAE Levels 3+, an automated driving system (ADS), which incorporates the necessary hard- and software, is introduced. The ADS should be capable of performing the entire DDT over a sustainable time period This includes monitoring the driving environment, which involves the detection of objects and particular events (e.g., the braking of other detected traffic participants) and giving a response. This is referred to as the object and event detection and response (OEDR) subtask of the DDT This combines the task of monitoring the entire relevant driving environment and detecting potential elements that the ADS needs to react to. In the following subsections (Sections 1.1 and 1.2), the safety assessment of ADS as well as approaches for virtual testing are introduced

Safety Assessment for ADS
Virtual Testing of ADS for Safety Assessment
Scope of Work
Structure of the Article
Virtual Validation of an ALKS
Virtual Validation of an ALKS with Varying ODD
Sensor Models
Vehicle Dynamics
Implementation Details
Result
General Simulation Framework for Virtual Validation
Discussion and Outlook
Full Text
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