A Full-fledge Simulation Framework for the Assessment of Connected Cars

Abstract Intelligent Transport Systems (ITS) have emerged as an integral part of smart cities, providing increased ease of mobility as well as efficiency and safety in vehicular traffic. Given its wide array of applications, ITS has also become a multidisciplinary field of work where vehicular communications, traffic control, ADAS (Advance Driver Assistance System) sensors, and vehicle dynamics have all to be accounted for. The study of such diverse aspects makes the evaluation of new ITS approaches, algorithms, and protocols not a small feat. For this reason, the availability of an effective, scalable, and comprehensive tool for the investigation and virtual validation of new ITS solutions is paramount. In this work, we present a simulation framework, called CoMoVe (Communication, Mobility, Vehicle dynamics), that effectively addresses the above need, as it enables the virtual validation of innovative solutions for vehicles that are both connected and equipped with ADAS sensors. Our framework encapsulates the important attributes of vehicle communication, road traffic, and dynamics into a single environment, by combining the strengths of different simulators. CoMoVe finds its use to evaluate the impact of vehicle connectivity, while imposing causality on vehicle dynamics and mobility. Such an assessment can greatly facilitate the development of control systems, algorithms, and protocols for real-world ITS

Scenario description language for automated driving systems : a two level abstraction approach

The complexities associated with Automated Driving Systems (ADSs) and their interaction with the environment pose a challenge for their safety evaluation. Number of miles driven has been suggested as one of the metrics to demonstrate technological maturity. However, the experiences or the scenarios encountered by the ADSs is a more meaningful metric, and has led to a shift to scenario-based testing approach in the automotive industry and research community. Variety of scenario generation techniques have been advocated, including real-world data analysis, accident data analysis and via systems hazard analysis. While scenario generation can be done via these methods, there is a need for a scenario description language format which enables the exchange of scenarios between diverse stakeholders (as part of the systems engineering lifecycle) with varied usage requirements. In this paper, we propose a two-level abstraction approach to scenario description language (SDL) - SDL level 1 and SDL level 2. SDL level 1 is a textual description of the scenario at a higher abstraction level to be used by regulators or system engineers. SDL level 2 is a formal machine-readable language which is ingested by testing platform e.g. simulation or test track. One can transform a scenario in SDL level 1 into SDL level 2 by adding more details or from SDL level 2 to SDL level 1 by abstracting

Software architectural design for safety in Automated Parking System

The automotive industry has seen a revolution brought about by self-driving cars. However, one of the main challenges facing autonomous driving systems is ensuring safety in the absence of a supervising driver and verifying safe vehicle behaviour under various circumstances. Autonomous Driving Systems (ADS), due to their complexity, cannot be solved straightforwardly without proper structure. Thus, they need a well-defined architecture to guide their development with requirements that involve modularity, scalability, and maintainability among other properties. To help overcome some of the challenges, this master thesis defines and implements in a simulated environment an automated parking system that complies with industrial and safety standards. The work has been divided into four parts. Firstly, the safety rules for the development of an autonomous function have been analysed. Secondly, the use cases and system requirements have been defined following the needs of the automated parking system. Thirdly, the system has been implemented in the simulation environment with a structure based on a widely adopted automotive standard. The final result is the software architecture of an autonomous vehicle with automated parking functionality. This concept has been validated within the virtual environment together with the integration of the AUTOSAR runtime environment, which the communication between components and mode switching functionality in the CARLA simulation environment. The result of this project shows the benefit of integrating architecture and simulation, thus easing the development and testing of future autonomous systems

Konzeption und Entwicklung eines Moduls für die Generierung von V2X Nachrichten aus OpenSCENARIO Daten als Teil einer HiL Laborumgebung

Hochautomatisierte und vernetzte Fahrfunktionen sind ein wesentlicher Bestandteil der Mobilität der Zukunft. Die umfangreiche Erprobung der zugrundeliegenden Advanced Driver Assistance Systems (ADAS) nimmt im Zulassungsprozess solcher „intelligenten“ Fahrzeuge eine tragende Rolle ein und wird aus Risiko- und Kostengründen zunehmend in Simulationsumgebungen statt im realen Fahrbetrieb durchgeführt. Das Dateiformat OpenSCENARIO in Kombination mit dem OpenDRIVE Standard hat sich in den letzten Jahren als Quasi-Standard bei der Simulation von komplexen, dynamischen Verkehrsszenarien etabliert. Die OpenSCENARIO Definition eines Verkehrsszenarios umfasst die Beschreibung der Infrastruktur und der Fahrzeugbewegungen enthaltener Akteure, sodass diese innerhalb einer Simulationsumgebung abgebildet werden können. Die Simulation von Vehicle to Everything (V2X) Nachrichten, die Fahrzeuge mit vernetzten Fahrfunktionen versenden und empfangen können, aus OpenSCENARIO Daten ist bislang lediglich theoretisch betrachtet worden. Inhalt dieser Arbeit ist die Generierung von V2X Nachrichten aus in OpenSCENARIO definierten Verkehrsszenarien. Dies erfolgt durch die Integration eines OpenSCENARIO Parsers und einer Cohda MK5 OBU, ausgestattet mit dem Vanetza Protokoll Stack, in die Hardware in the Loop (HiL) Laborumgebung des Instituts für Verkehrssystemtechnik des DLR in Braunschweig. Die Werkzeugkette, die das Einlesen eines Verkehrsszenarios, die Ermittlung dynamischer Fahrzeuginformationen und die Aussendung von CAMs und DENMs für sämtliche simulierten Fahrzeuge umfasst, wurde mit mehreren Verkehrsszenarien erfolgreich getestet. Die generierten V2X Nachrichten bilden die im Verkehrsszenario definierte Fahrweise ab und konnten mit einem Tablet zur Validierung von V2X Nachrichten (WaveBEE touch) empfangen werden