Overall Approach to Standardize AD Sensor Interfaces: Simulation and Real Vehicle

Driesten, Carlo van; Schaller, Thomas

doi:10.1007/978-3-658-23751-6_5

Cited by 8 publications

(6 citation statements)

References 8 publications

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“…In contrast, describing concrete scenarios for the actual test execution requires a certain data format. The ASAM OSI [138] classes GroundTruth and SensorView appear to be capable of describing objective scenes and the circumstances for their subjective perception, respectively. However, they are designed for virtual simulations instead of real-world test scenarios.…”

Section: Description Of Scenarios and Oddmentioning

confidence: 99%

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

2022

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Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part of safety assurance. The paper focuses on testing for verification and validation purposes at the interface between perception and planning, and structures the analysis along the three axes (1) test criteria and metrics, (2) test scenarios, and (3) reference data. Furthermore, the analyzed literature includes related safety standards, safety-independent perception algorithm benchmarking, and sensor modeling. It is found that the realization of safety-oriented perception testing remains an open issue since challenges concerning the three testing axes and their interdependencies currently do not appear to be sufficiently solved.

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Section: Description Of Scenarios and Oddmentioning

confidence: 99%

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

2022

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“…However, for the road network and the scenario description, as already mentioned in the explanation of Figure 5, the ASAM standards OpenDRIVE ® and OpenSCENARIO ® can be applied. The relevant interfaces concerning the sensor models, input and output, can be defined using the open simulation interface as presented in [54] and implemented in [55]. This is currently being further developed as the ASAM OSI ® standard [56].…”

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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“…Without standardized interfaces like FMI and a commonly agreed data structure like OSI, there is no interchangeability of the models and it is not possible to generate input for them with different environment simulation tools. Besides, it should be ensured that the interfaces of the simulation models reflect the real sensors' interfaces, what is ensured for the OSI structure [9] and ISO 23150 [2], as described by van Driesten and Schaller [5]. Additionally, it is not possible to distribute or scale the generation of synthetic sensor data, which is the most computationally expensive part of the overall simulation and therefore must be distributed for sensible testing.…”

Section: Sequential Approach To Tackle Issues Of the State Of The Artmentioning

confidence: 99%

“…To guarantee a broad applicability, the output is generated on different interfaces of the processing pipeline via the standards Open Simulation Interface [3] (OSI) and Functional Mock-up Interface [4] (FMI) in the sequential procedure, as proposed by van Driesten and Schaller [5]. The sequential structure provides a high level of modularity, testability, interchangeability, and distributability.…”

Section: Introductionmentioning

confidence: 99%

Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving

Rosenberger

Holder

Cianciaruso

et al. 2020

Automot. Engine Technol.

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Validating safety is an unsolved challenge before autonomous driving on public roads is possible. Since only the use of simulation-based test procedures can lead to an economically viable solution for safety validation, computationally efficient simulation models with validated fidelity are demanded. A central part of the overall simulation tool chain is the simulation of the perception components. In this work, a sequential modular approach for simulation of active perception sensor systems is presented on the example of lidar. It enables the required level of fidelity of synthetic object list data for safety validation using beforehand simulated point clouds. The elaborated framework around the sequential modules provides standardized interfaces packaging for co-simulation such as Open Simulation Interface (OSI) and Functional Mockup Interface (FMI), while providing a new level of modularity, testability, interchangeability, and distributability. The fidelity of the sequential approach is demonstrated on an everyday scenario at an intersection that is performed in reality at first and reproduced in simulation afterwards. The synthetic point cloud is generated by a sensor model with high fidelity and processed by a tracking model afterwards, which, therefore, outputs bounding boxes and trajectories that are close to reality.

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Overall Approach to Standardize AD Sensor Interfaces: Simulation and Real Vehicle

Cited by 8 publications

References 8 publications

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

A Review of Testing Object-Based Environment Perception for Safe Automated Driving

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

Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving

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