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- Degen, René, et al.
(författare)
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CityInMotion : A Virtual Urban Test Environment for Automated Mobility
- 2021
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Konferensbidrag (refereegranskat)abstract
- Efficient methodologies for the development and validation of highly-automated vehicle systems play an increasingly important role in urban mobility. In addition, the requirements for simulation and verification environments are highly increasing due to a wide range of automation functions to be integrated and validated in the near future.This paper presents a new approach for developing a virtual test environment for highly automated vehicles based ona high-end virtual reality (VR) engine. The basis is a realistic,geo-referenced city model, which is reactively connected in Co-Simulation to a highly detailed vehicle model or even a Vehicle-in-the-Loop test bed. Through specific sensor model systems like camera radar and lidar, the vehicle can interact with the environment and traffic participants like VRU(Vulnerable Road Users) in real-time. The behaviour of real VRUs in the virtual test field is based on high-end motion-capture technology, which enables the integration of highly realistic avatars in real time.A proof of concept is shown by application of the virtual urban test field for validating an unmanned battery-electric vehicle. Finally, an outlook for the potential use of advanced VR technologies for agile development processes is given.
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| 2. |
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| 3. |
- 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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| 4. |
- 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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| 5. |
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| 6. |
- 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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| 8. |
- 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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| 9. |
- 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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| 10. |
- 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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