Gietelink, O.J.

Ploeg, J.

Schutter, de, B.

Verhaegen, M.H.

English

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 Validation of Advanced Driver Assistance Systems with VEHILCitation for published version (APA):Gietelink, O. J., Ploeg, J., Schutter, de, B., & Verhaegen, M. H. (2004). Validation of Advanced Driver AssistanceSystems with VEHIL. In Abstract presented at the 23rd Benelux Meeting on Systems and Control, 17-19 March2004, Helvoirt, The NetherlandsDocument status and date:Published: 01/01/2004Document Version:Accepted manuscript including changes made at the peer-review stagePlease check the document version of this publication:• A submitted manuscript is the version of the article upon submission and before peer-review. There can beimportant differences between the submitted version and the official published version of record. Peopleinterested in the research are advised to contact the author for the final version of the publication, or visit theDOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and pagenumbers.Link to publicationGeneral rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright ownersand it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.            • Users may download and print one copy of any publication from the public portal for the purpose of private study or research.            • You may not further distribute the material or use it for any profit-making activity or commercial gain            • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, pleasefollow below link for the End User Agreement:www.tue.nl/taverneTake down policyIf you believe that this document breaches copyright please contact us at:openaccess@tue.nlproviding details and we will investigate your claim.Download date: 17. Nov. 2023Validation of advanced driver assistance systems with VEHILOlaf Gietelink, Jeroen PloegAdvanced Chassis and Transport SystemsTNO AutomotiveP.O. Box 756, 5700 AT HelmondThe NetherlandsEmail: gietelink@wt.tno.nlBart De Schutter, Michel VerhaegenDelft Center for Systems and ControlDelft University of TechnologyMekelweg 2, 2628 CD DelftThe NetherlandsEmail: b.deschutter@dcsc.tudelft.nl1 Introduction to advanced driver assistance systemsWith the increasing demand for safer passenger vehicles,the development of Advanced Driver Assistance Systems(ADASs) is of major interest to the automotive industry.State-of-the-art ADASs are adaptive cruise control and pre-crash sensing systems. They not only improve the drivingcomfort, but can also assist the driver in reacting to danger-ous situations and collision avoidance.The complexity of these intelligent vehicle control systemsis however in contradiction to the increasing demand for re-liability and safety. To improve fault management often re-dundant components and fault-tolerant controllers are im-plemented in ADASs. In practice, it is however difficultto choose the right measures and to validate their effective-ness. Currently, simulations and prototype test drives areused to validate an ADAS, but these tests can be unreliableand costly. An efficient methodology and new design toolsare thus required for validation of the safety and reliabilityof an ADAS under the influence of a variety of faults.2 Vehicle-hardware-in-the-loop testingFor this purpose TNO Automotive has developed VEHIL(VEhicle-Hardware-In-the-Loop), a test rig for intelligentvehicles [1]. VEHIL makes it possible to conduct hardware-in-the-loop experiments with full-scale intelligent vehiclesin a laboratory environment. A virtual environment is de-fined in which the vehicles, the infrastructure and their in-teractions are simulated. The full-scale intelligent vehicleis placed on a chassis dynamometer that is interfaced withthis virtual environment. Surrounding traffic participants arerepresented by autonomous robot vehicles (so-called mov-ing bases) that carry out the relative motions to the intelli-gent vehicle. In this way the ADAS can be evaluated as if thevehicle is actually driving on the road, where the absolutevelocity is removed from the test. A photo of the laboratorysetup is shown in Figure 1.3 Randomized algorithms for ADAS analysisIn VEHIL the control system can be validated with respectto environment sensor (radar) faults that can be introducedina controlled way. It is however impossible to exhaustivelytest the ADAS for every fault type under every operatingFigure 1: Laboratory setup with intelligent vehicle (left), movingbase (right) and chassis dynamometer.condition. We propose a new methodology that provides asuitable test program in order to sufficiently (but also effi-ciently) cover the entire ’fault space’ (the combined set ofpossible failure modes and complex operating conditions).For this purpose algorithms are developed, in order to con-struct an optimum set of VEHIL tests to sufficiently provethe reliability and safety of the ADAS.This approach relies on randomized algorithms that form thebasis for off-line Monte Carlo simulations with the ADAScontrol system. The strength of this approach is that thecontrol system analysis does not depend on the level of com-plexity of the underlying system (in contrast to a determin-istic approach). The disadvantage is that uncertainty is asso-ciated with the estimated level of reliability, since a randomsample is chosen to represented the fault space.When simulations have indicated the most critical scenarios(in terms of safety and reliability), a selection is made to bereplayed in the VEHIL facility. With this practical evalua-tion the assessment can be made more reliable.AcknowledgmentsResearch sponsored by TNO and TRAIL Research School.References[1] O.J. Gietelink, J. Ploeg, B. De Schutter, and M. Ver-haegen. VEHIL: Test facility for fault management testingof advanced driver assistance systems. InProc. of the 10thWorld Congress on Intelligent Transport Systems and Ser-vices (ITS), Madrid, Spain, 2003. Paper 2639.

Validation of Advanced Driver Assistance Systems with VEHIL

Gietelink, OJ

Ploeg, J Jeroen

Schutter, Bart   de

Verhaegen, MH

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Validation of Advanced Driver Assistance Systems with VEHIL

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