Integration of Driving Physical Properties into the Development of a Virtual Test Field for Highly Automated Vehicle Systems

• 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.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Publication and Content Type

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