Design and Implementation of a Co-Simulation Framework for Testing of Automated Driving Systems

Nalic, Demin; Pandurevic, Aleksa; Eichberger, Arno; Rogic, Branko

doi:10.3390/su122410476

Cited by 17 publications

(9 citation statements)

References 19 publications

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“…Considering the limitations of individual simulation platforms, some recent studies have attempted to integrate different simulators for testing AVs and CAVs in complex environments. For example, Nalic et al created a co-simulation framework for generating different scenarios for assessing automated driving systems ( 13 – 15 ). Meneses Cime et al created a realistic traffic and vehicle dynamic simulation framework that was also connected with dedicated hardware to meet the computational needs of AVs ( 16 ).…”

Section: Literature Reviewmentioning

confidence: 99%

Extensible Co-Simulation Framework for Supporting Cooperative Driving Automation Research

Cui

Shen

Yang

et al. 2022

Transportation Research Record: Journal of the Transportation R

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Autonomous vehicles (AVs) and cooperative automated vehicles (CAVs) are expected to largely reshape our mobility systems. The limited deployment of AVs and CAVs on roads makes it difficult to fully assess their impact and interactions with other road users. Advanced simulations are often sought for conducting accelerated tests of AVs and CAVs in a virtual environment. However, existing off-the-shelf simulators are typically focused on conventional traffic simulation and human-driving simulation. Advanced simulators that enable core functionalities (e.g., sensing and communication) of AVs and CAVs have been underexploited. In this paper, the authors aim to develop a realistic co-simulation framework for testing autonomous driving and cooperative driving automation (CDA). The proposed co-simulation framework utilizes the open-source concept to support the AV and CAV community in developing and deploying AV and CAV technologies. This framework integrates multiple open-source platforms, including Eclipse MOSAIC™ simulation framework, Eclipse Simulation of Urban Mobility (SUMO™) traffic simulator, and CARLA AV driving simulator. The framework enables AV and CAV simulation in mixed traffic environments. The developed co-simulation models have been tested with different scales of networks and traffic flow. The assessment of the co-simulation framework shows that it can support faster-than-real-time simulation for use in accelerated tests with more realistic scenarios. In addition, the developed co-simulation framework is proven to be extensible with the inclusion of other network simulators for supporting vehicle-to-everything (V2X) communication among vehicles.

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Section: Literature Reviewmentioning

confidence: 99%

Extensible Co-Simulation Framework for Supporting Cooperative Driving Automation Research

Cui

Shen

Yang

et al. 2022

Transportation Research Record: Journal of the Transportation R

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“…For the evaluation of cooperative functions and for the generation of required test scenarios, including a traffic simulation (as shown in [45][46][47][48][49]), a solution is possible. This can either be an open-source solution (e.g., [50]) or a traffic block representing a proprietary software, as seen in Figure 5.…”

Section: © Virtual Vehiclementioning

confidence: 99%

Virtual Validation of an Automated Lane-Keeping System with an Extended Operational Design Domain

et al. 2021

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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.

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“…The simulation environment is based on the co-simulation framework presented in [6] and [15]. This framework combines Matlab/SIMULINK and a co-simulation between IPG CarMaker and Vissim.…”

Section: Simulation Environment a Co-simulation Between Carmaker And ...mentioning

confidence: 99%

Stress Testing Method for Scenario Based Testing of Automated Driving Systems

Nalic,

Li,

Eichberger

et al. 2020

Preprint

Self Cite

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Classical approaches for testing of automated driving systems (ADS) of SAE levels 1 and 2 were based on defined scenarios with specific maneuvers, depending on the function under test. For ADS of SAE level 3+, the scenario space is infinite and calling for virtual testing and verification. The biggest challenge for virtual testing methods lies in the realistic representation of the virtual environment where the ADS is tested. Such an environment shall provide the possibility to model and develop vehicles, objects, control algorithms, traffic participants and environment elements in order to generate valid and representative test data. An important and crucial aspect of such environments is the testing of vehicles in a complex traffic environment with a stochastic and realistic traffic representation. For this research we used a microscopic traffic flow simulation software (TFSS) PTV Vissim and the vehicle simulation software IPG CarMaker to test ADS. Although the TFSS provides realistic and stochastic behavior of traffic participants, the occurrence of safety-critical scenarios (SCS) is not guaranteed. To generate and increase such scenarios, a novel stress testing method (STM) is introduced. With this method, traffic participants are manipulated in the vicinity of the vehicle under test in order to provoke SCS derived from statistical accident data on motorways in Austria. Using the co-simulation between IPG CarMaker, PTV Vissim and external driver models in Vissim are used to imitate human driving errors, resulting in an increase of SCS.

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Design and Implementation of a Co-Simulation Framework for Testing of Automated Driving Systems

Cited by 17 publications

References 19 publications

Extensible Co-Simulation Framework for Supporting Cooperative Driving Automation Research

Extensible Co-Simulation Framework for Supporting Cooperative Driving Automation Research

Virtual Validation of an Automated Lane-Keeping System with an Extended Operational Design Domain

Stress Testing Method for Scenario Based Testing of Automated Driving Systems

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