| 1. |
- Degen, René, 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
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Ingår i: International Journal of Automotive Technology. - 1229-9138 .- 1976-3832.
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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 systemsmany test kilometers are necessary to represent sufficient diversity. Hence, the virtual testing of driver assistancesystems 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 totest scenarios that are not feasible in a real environment due to a risk of injury. A big challenge is the physical correctimplementation of real vehicles and their components into the Virtual Reality. To enable a realistic virtual testing thevehicles surrounding sensors need to be modeled adequately. Thus, this paper presents an approach for theimplementation of a Lidar model into a Virtual Reality. A physical Lidar model is combined with a real-time capablevehicle dynamics model to investigate the influence of vehicle movements to the sensor measurements. The modelsare implemented into a highly realistic virtual city environment. Finally, a test campaign shows the influence of theLidars physics and the vehicle dynamics on the detection results.
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| 2. |
- 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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| 3. |
- Degen, René, et al.
(författare)
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Integration of Driving Physical Properties into the Development of a Virtual Test Field for Highly Automated Vehicle Systems
- 2021
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Konferensbidrag (refereegranskat)abstract
- For many years now, models for representing reality have played a decisiverole in the development of control systems. By appropriate abstraction theyhelp to design an efficient development process. Especially in the developmentof Advanced Driver Assistance Systems (ADAS) a valid virtual developmentenvironment is crucial for functionality and reliability.This study aims the representation of driving physics in a virtual testenvironment for the development of robust ADAS systems. The overall systemconsists of a georeferenced virtual traffic environment, a multibody vehiclemodel and a driver model. The virtual environment includes a detailed 3D model of an urban city in consideration of specific height coordinates of theenvironment. The vehicle model is implemented by a simplified two-lanemodel based on geometric steering correlations. Alternatively, the vehiclekinematics are considered by a five-body dynamic model. This model iscombined by a semi-empirical tyre model for realistic modelling of the contactforces and torques between the tyre patch and the road. Finally, sensor modelsfor radar, lidar and camera are added to the vehicle model.To investigate real urban traffic scenarios an advanced driver model isincluded, which uses a pure pursuit path tracking algorithm to follow a giventarget trajectory. To investigate real pedestrian interaction, a real personsbehavior is included by motion capturing technologies. Those heterogeneousenvironments are combined by Co-Simulation to get a real-time connection andfinally the entire testbed.By applying the Co-simulation environment to a typical inner city trafficscenario, the verification of the system functionality is done. The outcome is asafe and efficient virtual city environment, which enables interactioninvestigations between typical traffic participants and highly automatedvehicles. In summary, the paper shows the high potential of virtual Cosimulationenvironments for progressing automated vehicle functionalities.
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| 4. |
- Degen, René, et al.
(författare)
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Methodical Approach to the Development of a Radar Sensor Model for the Detection of Urban Traffic Participants Using a Virtual Reality Engine
- 2021
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Ingår i: Journal of Transportation Technologies. - : Scientific Research Publishing. - 2160-0473 .- 2160-0481. ; 11:2, s. 179-195
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Tidskriftsartikel (refereegranskat)abstract
- New approaches for testing of autonomous driving functions are using VirtualReality (VR) to analyze the behavior of automated vehicles in variousscenarios. The real time simulation of the environment sensors is still a challenge.In this paper, the conception, development and validation of an automotiveradar raw data sensor model is shown. For the implementation, theUnreal VR engine developed by Epic Games is used. The model consists of asending antenna, a propagation and a receiving antenna model. The microwavefield propagation is simulated by a raytracing approach. It uses the methodof shooting and bouncing rays to cover the field. A diffused scatteringmodel is implemented to simulate the influence of rough structures on thereflection of rays. To parameterize the model, simple reflectors are used. Thevalidation is done by a comparison of the measured radar patterns of pedestriansand cyclists with simulated values. The outcome is that the developedmodel shows valid results, even if it still has deficits in the context of performance.It shows that the bouncing of diffuse scattered field can only be doneonce. This produces inadequacies in some scenarios. In summary, the papershows a high potential for real time simulation of radar sensors by using raytracing in a virtual reality.
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| 5. |
- Degen, René, et al.
(författare)
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Virtual Urban Traffic Infrastructure for Testing Highly Automated Mobility Systems
- 2021
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Konferensbidrag (refereegranskat)abstract
- Recently, virtual realities and simulations play important roles in the development of urban traffic infrastructure. By anappropriate abstraction, they help to design, investigate and communicate inner-city development processes. Especially,to investigate interactions between infrastructure and future mobility participants, a valid virtual model is essential forfunctionality and reliability.The aim of this study is the investigation of interactions between a virtual infrastructure model and virtual sensor modelsof highly automated mobility systems. The overall system consists of a georeferenced virtual city model and probabilisticsensor models, which are part of an automated vehicle model. The virtual environment comprises a comprehensive,virtual 3D model of a representative German inner-city scene, considering specific height coordinates. The probabilisticsensor models represent real radar and lidar sensors and comprehensively replicate their physical functionalityin a virtual environment. Considering different levels of detail, the realistic representation of physical effects of thevirtual city model on the virtual sensors is investigated. The investigated scenarios are derived from representativeurban traffic situations. The complexity as well as the level of information of the virtual city scenarios is iterativelyincreased. Subsequently, the effects on the model validity of the overall system is checked and analysed.The results show that the developed virtual environment performs well for different levels of detail of representativevirtual traffic scenes. In addition, the selected modelling depth is very suitable for the high-performance investigationof interaction between virtual urban environment and virtual autonomous vehicle.
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