Simulation to Support the Verification and Validation

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Similar to ISO 26262. From FLUIDON: 2011 European HyperWorks ... MIT Urban Challenge (2007) http://archive.darpa.mil/grandchallenge/TechPapers/MIT.pdf ...
Institute for Transport Studies FACULTY OF ENVIRONMENT

Simulation to Support the Verification and Validation of Autonomous Road Vehicles Richard Romano and Gustav Markkula

Acknowledgements Some work discussed was performed at Realtime Technologies, Inc. between 1997 and 2015

Scoping an Autonomous Vehicle Sensors Lane Position Distance and Speed of Car Ahead

Control Strategy

Steering Wheel Acc/Brake Pedal

Map Map of Road GPS Location

Stanford Autonomous Vehicle http://stanford.edu/~cpiech/cs221/apps/driverlessCar.html

Model Based Design

Similar to ISO 26262 From FLUIDON: 2011 European HyperWorks Technology Conference

Automotive Safety Integrity Level (ASIL)

http://www.ni.com/white-paper/13647/en/

Splitting the Requirements Human

Complex Functionality Low ASIL? Rapid Development Simple Functionality High ASIL Slow Development Advanced Active Safety

Lane Departure Stability Control AEB

"Proven in Use" http://www.instructables.com/id/AutomatedKoopman and Wagner 2016 Braking-System/step1/INTRODUCTION/ http://what-when-how.com/automobile/anti-lock-braking-systems-abs-automobile/ http://www.oica.net/braking-systems/

What Do We Need for AV Testing Reconfigurable Simulator • Add test hardware • Add test software

Real World Databases Test Scenarios with Traffic Autonomous Control Software • Virtual Prototype • Software/Hardware Iowa Driving Simulator circa 1993 Automated Highway Systems

Virtual Prototyping ITS Safety and Technology group is regularly testing the human factors aspects of the System Functional Specification

Software in the Loop Nissan integrates and tests their various software systems inside their driving simulator in Silicon Valley. (2013)

www.bizjournals.com/sanjose/news/2013/07/31/inside-nissan-motor-cos-silicon.html

Need Real World Databases Correlated GPS Information (circa 2009)

Working towards 10 cm accuracy Used in the real car

Software in the Loop Lane Position Distance and Speed of Car Ahead (Simulator)

Map of Simulated Road GPS Location

Control Strategy (Nissan Software)

Steering Wheel Acc/Brake Pedal

Software in the Loop MIT Urban Challenge (2007)

http://archive.darpa.mil/grandchallenge/TechPapers/MIT.pdf

Hardware in the Loop MVTA and University of Minnesota have developed augmented driver’s aid system to support driving on shoulders

http://www.bus2.me.umn.edu/

MVTA Bus

http://www.bus2.me.umn.edu/

Hardware in the Loop Real vehicle hardware integrated into Simulator. Hardware/software testing is then possible.

(2009)

Let’s Be Provocative How do we test an autonomous vehicle controller in a simulator if the micro-simulations are not good enough? Massive distributed simulation?

Splitting the Requirements Human

Complex Functionality Low ASIL? Rapid Development Simple Functionality High ASIL Slow Development Advanced Active Safety "Proven in Use"

Lane Departure Stability Control AEB

Testing Active Safety Systems

Autonomous System Failure Mode

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