SENSOR SIMULATION MODELS - pegasus-projekt.info SIMULATION MODELS. 10 20 30 40 50 30 210 60 240 90...
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www.pegasusprojekt.de Testing and Safeguarding – Stand 15 SENSOR SIMULATION MODELS MEASUREMENT RESULTS WITHOUT MEASURING! Surrounding objects and other road users are sensed by radar, video and LiDAR sensor technology. These sensor concepts do differ but are also complementary with respect to measurement accuracy of position and velocity of objects but also to classification. Sensor models allow for virtual testing of their behavior in different traffic scenarios in a simulation environment. Test Automatisation Derivation of Tests Stochastics-Module Test Control Scenario Database Logical Scenario + Parameter space + Assessment criteria Simulation Tools Modells Sensor Model RADAR, Video, LiDAR Final Results Assessment of Results Concrete Scenario OpenScenario OSI or OEM- Interface OSI or OEM- Interface Sensor models allow virtual test and validation of Automated Driving Functions and make an important contribution to the release of Automated Driving!
Transcript of SENSOR SIMULATION MODELS - pegasus-projekt.info SIMULATION MODELS. 10 20 30 40 50 30 210 60 240 90...
www.pegasusprojekt.de
Testing and Safeguarding – Stand 15
SENSOR SIMULATION MODELSMEASUREMENT RESULTS WITHOUT MEASURING!
Surrounding objects and other road users are sensed by radar, video and LiDAR sensor technology. These sensor concepts do differ but are also complementary with respect to measurement accuracy of position and velocity of objects but also to classification. Sensor models allow for virtual testing of their behavior in different traffic scenarios in a simulation environment.
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Test Automatisation
Derivation of TestsStochastics-Module
Test Control
ScenarioDatabase
Logical Scenario+ Parameter space+ Assessment criteria
Simulation Tools
Modells Sensor ModelRADAR, Video, LiDAR
Final Results
Assessment ofResults
Concrete ScenarioOpenScenario
OSI or OEM-Interface
OSI or OEM-Interface
Sensor models allow virtual test and validation of Automated Driving Functions and make an important contribution to the release of Automated Driving!
www.pegasusprojekt.de
Simulation of sensor data from an environment simulation
For radar-, camera- and LiDAR-sensors models have beendeveloped, which reflect theproperties of the respectivesensors:
All sensors§ Distance§ Field of View§ Masking
Radar§ Antenna diagram§ Attenuation
(weather/coverage)§ Resolution
(angle/distance/velocity)
Camera§ Weather conditions§ Time of day
LiDAR§ Number of scan layers, range§ Noise behavior§ Relevance of attributes for
object recognition
Components of the sensor models for radar, LiDAR and camera based on their physicalsetup. For radar and camera the effects are modelled phenomenologically, i.e. the result ofthe effect is modelled.The radar-sensor modell requires a polar representation of the RCS (Radar Cross Section) ofall involved vehicles in simulation.
Example visualisation ofmodelled sensor data withIPG CarMaker: The bluevehicles in front arerecognised and located(green frame). The text box right of the frame lists sensorspecific outputs of thesimulation.
Testing and Safeguarding – Stand 15
SENSOR SIMULATION MODELS
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Purpose§ Accurately represent the
(complex) radar scattering characteristics by few scattering centers
§ Reduce the computing time by applying scattering center models instead of CAD vehicle models in the simulation
Process§ Shooting and Bouncing Ray
method (SBR) by Geometrical Optics (GO) and MoM (Method of Moments)
§ Validation by measurement of a real vehicle
ProspectUniversal method for the extraction of scattering centers (including underbody!) based on CAD vehicle models
By placing scattering centers on the underbody of vehicles, the relevant contribution caused by ground reflection (road) can also be considered.
The radar back scattering characteristic of the vehicle is represented by an angular dependent back scattering amplitude (in dB m²). This figure shows the monostatic RCS (sender and receiver at the same position). For effects caused by multi-path propagation the bistatic RCS (receiver at different positions) is required, which is also obtained from the scattering center model.
The scattering centers (green points) are identified on the vehicle by simulation.
The sum of all scattering centers yield an accurate model of the overall vehicle.
Determination of accurate RCS models of vehicles for radar system simulation
Testing and Safeguarding – Stand 15
DETERMINATION OF THE OBJECTSPECIFIC RADAR CROSS SECTION(RCS)
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Environment perception is affected by different domains of uncertainties:
State uncertaintyUncertainty in the state variables such as object position, object velocity, etc. caused by stochastic measuring error of the sensor technology used
Class uncertaintyUncertainty of class membership (e.g. passenger car vs. truck) caused by false classification of object detection algorithms or sensor limitations
Existence uncertaintyUncertainty, whether an object captured by a sensor really exists, caused by detection uncertainties of individual sensors EGO
Object 1Is it a car?
Is it a truck?
EGO
Object 1Distance x : 20.1 mDistance y: 4.2 mv_rel: -3,25 m/s
EGO
Object 1Does it really exist?
For release, sensor models must exhibitthe same uncertainties as real sensors.
State uncertainty
Class uncertainty
Existence uncertainty
Testing and Safeguarding – Stand 15
SENSOR DATA UNCERTAINTIES FOR SAFETY ASSURANCE
