Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated drivin
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ORIGINAL PAPER
Sequential lidar sensor system simulation: a modular approach for simulation‑based safety validation of automated driving Philipp Rosenberger1 · Martin Friedrich Holder1 · Nicodemo Cianciaruso1 · Philip Aust1 · Jonas Franz Tamm‑Morschel1 · Clemens Linnhoff1 · Hermann Winner1 Received: 3 April 2020 / Accepted: 6 August 2020 © The Author(s) 2020
Abstract Validating safety is an unsolved challenge before autonomous driving on public roads is possible. Since only the use of simulation-based test procedures can lead to an economically viable solution for safety validation, computationally efficient simulation models with validated fidelity are demanded. A central part of the overall simulation tool chain is the simulation of the perception components. In this work, a sequential modular approach for simulation of active perception sensor systems is presented on the example of lidar. It enables the required level of fidelity of synthetic object list data for safety validation using beforehand simulated point clouds. The elaborated framework around the sequential modules provides standardized interfaces packaging for co-simulation such as Open Simulation Interface (OSI) and Functional Mockup Interface (FMI), while providing a new level of modularity, testability, interchangeability, and distributability. The fidelity of the sequential approach is demonstrated on an everyday scenario at an intersection that is performed in reality at first and reproduced in simulation afterwards. The synthetic point cloud is generated by a sensor model with high fidelity and processed by a tracking model afterwards, which, therefore, outputs bounding boxes and trajectories that are close to reality. Keywords Lidar sensor simulation · Safety validation · Automated driving
1 Introduction The scenario-based approach for safety validation of highly automated driving (HAD) was presented as a result of the recently finished research projects PEGASUS and * Philipp Rosenberger [email protected]‑darmstadt.de Martin Friedrich Holder [email protected]‑darmstadt.de Nicodemo Cianciaruso [email protected]‑darmstadt.de Philip Aust [email protected] Jonas Franz Tamm‑Morschel [email protected] Clemens Linnhoff [email protected]‑darmstadt.de Hermann Winner [email protected]‑darmstadt.de 1
Institute of Automotive Engineering, Technische Universität Darmstadt, Darmstadt, Germany
ENABLE-S3. The follow-up project SET Level 4to5 continues this approach with a special focus on simulation-based testing. As perception plays a central role for HAD, simulation-based testing requires synthetic sensor data of validated fidelity at different processing states or interfaces. In this regard, it is differentiated between sensor frontend and sensor system to distinguish signal transmitting, perception, and pre-processing (the front-end) from data processing [1], as can be seen in Fig. 1. While the former is dominated by hardware components, the latter mainly consists of processing algorithms. Therefore, a sensor model is technically a replacement o
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