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- Degen, René, 1994-, et al.
(författare)
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Development of a Lidar Model for the Analysis of Borderline Cases Including Vehicle Dynamics in a Virtual City Environment in Real Time
- 2023
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Ingår i: International Journal of Automotive Technology. - : Springer Nature. - 1229-9138 .- 1976-3832. ; 24:4, s. 955-968
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Tidskriftsartikel (refereegranskat)abstract
- Advanced driver assistance systems are an important step on the way towards the autonomous driving. However, there are new challenges in the release of increasingly complex systems. For the testing of those systems many test kilometers are necessary to represent sufficient diversity. Hence, the virtual testing of driver assistance systems brings new opportunities. In virtual environments, it is possible to run a much higher distance in a short time. Simultaneously, the complexity of the environment and the test scenarios are individually adjustable. It is possible to test scenarios that are not feasible in a real environment due to a risk of injury. A big challenge is the physical correct implementation of real vehicles and their components into the Virtual Reality. To enable a realistic virtual testing the vehicles surrounding sensors need to be modeled adequately. Thus, this paper presents an approach for the implementation of a Lidar model into a Virtual Reality. A physical Lidar model is combined with a real-time capable vehicle dynamics model to investigate the influence of vehicle movements to the sensor measurements. The models are implemented into a highly realistic virtual city environment. Finally, a test campaign shows the influence of the Lidars physics and the vehicle dynamics on the detection results.
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- Degen, René, 1994-, et al.
(författare)
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Methodical Approach to Integrate Human Movement Diversity in Real-Time into a Virtual Test Field for Highly Automated Vehicle Systems
- 2022
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Ingår i: Journal of Transportation Technologies. - : Scientific Research Publishing. - 2160-0473 .- 2160-0481. ; 12:3, s. 296-309
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Tidskriftsartikel (refereegranskat)abstract
- Recently, virtual realities and simulations play important roles in the development of automated driving functionalities. By an appropriate abstraction, they help to design, investigate and communicate real traffic scenario complexity. Especially, for edge cases investigations of interactions between vulnerable road users (VRU) and highly automated driving functions, valid virtual models are essential for the quality of results. The aim of this study is to measure, process and integrate real human movement behaviour into a virtual test environment for highly automated vehicle functionalities. The overall system consists of a georeferenced virtual city model and a vehicle dynamics model, including probabilistic sensor descriptions. By motion capture hardware, real humanoid behaviour is applied to a virtual human avatar in the test environment. Through retargeting methods, which enable the independency of avatar and person under test (PuT) dimensions, the virtual avatar diversity is increased. To verify the biomechanical behaviour of the virtual avatars, a qualitative study is performed, which funds on a representative movement sequence. The results confirm the functionality of the used methodology and enable PuT independence control of the virtual avatars in real-time.
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- Degen, René, 1994-, et al.
(författare)
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Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment
- 2023
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Ingår i: Journal of Transportation Technologies. - : Scientific Research Publishing. - 2160-0473 .- 2160-0481. ; 13:1, s. 87-114
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Tidskriftsartikel (refereegranskat)abstract
- The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.
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- Degen, René, 1994-
(författare)
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Urban Virtual Test Field for HighlyAutomated Vehicle Systems
- 2021
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous driving is one of the key technologies for increasing road safetyand reducing traffic volumes. Therefore, science and industry are workingtogether on new innovative solutions in this field of technology. One importantcomponent in this context is the approval and testing of new solution concepts,with special focus on the ones for urban environments. Not only because ofthe high diversity of traffic situations, but also because of the close contactbetween vulnerable road users (VRU) and automated vehicles.In the course of this work, a novel approach for testing automated drivingfunctions and vehicle systems in urban environments is presented. The goal isto create a safe and valid environment in which the automated vehicle and theVRU can meet and interact. The basis is a highly realistic virtual model of acity center. The physical behavior of the vehicle and VRU is recorded usingmeasurement technology and transferred to the virtual city model.Based on representative urban traffic scenarios, the functionality of the urbantest field is investigated from various points of view. Thereby, the focus is onreal-time capability and the quality of interaction between the vehicle and theVRU.The investigations show that both the real-time capability and the interactionpossibilities could be demonstrated. Further, the developed methodologies aresuitable for real time applications.
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- Degen, René, 1994-
(författare)
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Virtual Test Field for Highly Automated Vehicle Systems in Urban Environments
- 2023
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous driving was and is one of the most important research and innovation drivers in the automotive and supplier industry. In addition to the predicted energy savings, a reduction in the number of accidents and their level of damage is also expected. In particular, the functional testing and legislation of highly automated driving functions play a decisive key role here. This results in a justified need for innovation and research and means major challenges for the entire technology sector. Traditional methods such as real-world tests and X-in-the-loop tests for proving functional safety still have their justification, but cannot answer all the questions posed by the diverse requirements in daily use. In particular, urban environments with highly complex traffic scenarios and diverse groups of actors can only be mapped to a limited extent using existing methods.In this work, a novel approach for testing automated vehicle systems in urban environments is presented. The goal is to create a safe and valid environment in which the vehicle under test can interact with real road users under realistic conditions. The basis is a highly realistic virtual model of a German city center. The physical behavior of the vehicle and the pedestrian is measured and transferred to the virtual city model in real time. Sensor models enable the interaction of the vehicle with the virtual environment and the pedestrian. With the help of different studies with different focuses, both individual functionalities as well as the overall functionality are finally evaluated.
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