Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System. Dirk Fratzke, Julian King TÜV Süd ZF Friedrichshafen IPG

Transcription

1 Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System Dirk Fratzke, Julian King TÜV Süd ZF Friedrichshafen IPG

2 Project Objective & Contributions Addendum 78 UN Regulation No. 79 Revision 2 Amendment The vehicle manufacturer shall demonstrate to the satisfaction of the Technical Service that the requirements for the whole lateral acceleration and speed range are fulfilled. This may be achieved on the basis of appropriate documentation appended to the test report. Prototypical example of a virtually supported release process including trustworthiness of simulation validation. Dynamics System Function Provide test cases for approval of AV function including KPIs and criteria. Generate a draft for a simulation supported Approval Report for a LKAS according to the UN/ECE-Regulation. System Manufacturer contributions for test & simulation Simulation Tool Supplier Independent examination of trustworthiness of the virtual system approval. TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

3 UN/ECE ISO EuroNCAP Function Validation Model Validation Function Validation Systematic, Standards and Regulations Dynamics Model Calibration ISO Real World Testing UN/ECE R 79 & ISO11270 System Approval System Reaction Reaction Calibration > ISO & Torque Ramp Maneuver Virtual Testing UN/ECE R 79 & ISO11270 Variation of Parameter Tool Chain Approval Tool Chain Validation Validation, Proof of Effectiveness, Variation, Homologation Report UN/ECE R 79: Steering Equipment UN/ECE R130: Lane Departure Warning System UN/ECE R140: Electronic Stability Control Systems ISO 11270: Intelligent Transport Systems - Lane keeping assistance systems Performance requirements and test procedures ISO19364: Passenger Cars - dynamic simulation and validation - Steady-state circular driving behavior Euro NCAP: TEST PROTOCOL Lane Support Systems TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

4 UN/ECE-Regulation 140: Homologation of ESC Systems Where a vehicle has been physically tested in accordance with [ ], the compliance of versions or variants of that same vehicle type may be demonstrated by a computer simulation [ ]. 01 Define vehicle representative of the type to be homologated, and test it under dynamic maneuvers 02 Generate the vehicle simulation and correlate the obtained data 03 Simulate critical vehicle / model variants Sine with Dwell (SwD) Maneuver Real Tests Response N /Model Variants N Simulation Results Inputs Model Adjustment Correlation Pearson Education, Ltd., Upper Saddle River, NJ Simulation Simulation Results Response Inputs Approval & assessment of variants by using validated simulation model TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

5 Draft Procedure for UNECE R79: Homologation of Steering Equipment The vehicle manufacturer shall demonstrate to the satisfaction of the Technical Service that the requirements for the whole lateral acceleration and speed range are fulfilled. 01 Define vehicle representative of the type to be homologated, and test it under dynamic maneuvers 02 Generate the vehicle simulation and correlate the obtained data 03 Simulate N critical Scenarios with different parameter N Scenarios and Parameter Real Tests Response N Scenarios and Parameter N Simulation Results Inputs Model Adjustment Correlation Approval Testing & Collecting Data Simulation Simulation Results Model Validation Response Inputs Approval & assessment of variants by using validated simulation model TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

6 Act Plan Sense Reducing Complexity Layer 0: Information Access Layer 1: Information Reception Layer 2: Information Processing Layer 3: Situational Understanding Layer 4: Behavioral Decision Functional Decomposition Reducing complexity through division of system in smaller modules Separate component approval of Sense, Plan and Act module Approval of overall system still required, but less effort necessary Layer 5: Action C. Amersbach und H. Winner, Functional Decomposition: An Approach to Reduce the Approval Effort for Highly Automated Driving, in 8. Tagung Fahrerassistenz, München, TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

7 Over 50 Parameters Parameter Reduction of approx. 50% Functional Decomposition Sense Objects, Environment Camera Ideal Camera Model Plan Infrastructure, Objects, Road-level LKA Algorithm LKA Algorithm Act Road-level Replacement of real sensor with Ideal Sensor Model to halve relevant parameters Requirement for the Ideal Camera Model: Localized analog to real mass production vehicle Field of view is similar to real sensor TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

8 Increasing Requirements Assessment Criteria KPIs ISO (LKAS), ECE R130 (Lane Departure Warning) and ECE R79 (Steering Equipment Revision 2 Amendment 3) Crossing the Line Maximum value d y,max by which the outer edges of the tires of the vehicle are allowed to exceed the lane boundary Lateral Acceleration a lat Shall not exceed Lateral Jerk a lat Moving average of 0.5 s shall not exceed ECE R130 Outer Edge of Lane Marking Limit: 0.30 m ISO Center of Lane Marking Limit: 0.40 m 3.0 m s m s 3 ECE R79 Outer Edge of Lane Marking Limit: 0.00 m 3.0 m s m s 3 y d y,max in ISO Lane v x x Front Wheel d y,max in ECE R130 Lane Marking Hard Shoulder TÜV SÜD AUTO SERVICE GMBH Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System

9 Validation of vehicle model ISO Test maneuvers Gas/Brake Steering Test maneuvers (Quasi-) Steady state Dynamic behavior Constant radius, constant speed Steer step Constant radius, increasing speed Sinus sweep ( Hz) ADMA dgps Test vehicle instrumentation (Cadillac CT6): ZF steering system (rack EPS) Stähle SFPhybrid steering robot GeneSys ADMA G-Pro+ Results constant radius 100 m, increasing speed Blue = measurement (10 Hz low-pass filtered), Red = CM simulation Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG 9

10 Validation of LKAS actor model Test maneuvers Gas/Brake Steering CAN Torque ramp EPS Rack EPS model integrated in CM for Simulink ADMA dgps Parameterization of EPS model Blue = measurement, Red = CM simulation Corresponds to maximum requestable assist torque at given velocity Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG 10

11 Validation of system reaction to torque request Test maneuvers Gas/Brake Steering CAN Torque ramp EPS GeneSys ADMA G-Pro+ for precise vehicle trajectory measurements: Comparison of lateral movement between measurement and simulation (required for KPI evaluation) Precision approx. ± 2 cm ADMA dgps Maximum difference in lateral position between measurement (blue) and simulation (red) is less than 15 cm Tire measurements planned in order to further reduce discrepancies Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG 11

12 LineInfo RoadInfo Position Yaw angle Overall system test using -in-the-loop (ViL) Test maneuvers Gas/Brake Steering CAN EPS Torque request LKAS CM Line Sensor CM Scene ADMA dgps 20m/s < v x < 22m/s 0.2m/s < v y < 0.6m/s Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG 12

13 Outlook Completion of test drives according to UN/ECE R 79 and ISO Tool chain validation: Closed-loop comparison between measurement and simulation (including measured tire parameters) Simulation-based validation of maneuver variants over the entire operational domain (velocity, lateral acceleration, ) Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG 13

14 Thank you Christian Gnandt Thomas Ponn Thomas Schulik Stefan Erlinghagen Nico Dahringer Ulrich Mair Udo Piram Wolfgang Scheffer Robert Zdych Martin Herrmann Tobias Leichsenring Ruben Spangenberger Florian Schmidt ZF Friedrichshafen AG behält sich sämtliche Rechte an den gezeigten technischen Informationen einschließlich der Rechte zur Hinterlegung von Schutzrechtsanmeldungen und an daraus entstehenden Schutzrechten im In- und Ausland vor. ZF Friedrichshafen AG reserves all rights regarding the shown technical information including the right to file industrial property right applications and the industrial property rights resulting from these in Germany and abroad Verification of Simulation-Based Release Procedure for an Advanced Driver Assistance System ZF Friedrichshafen AG ZF Friedrichshafen AG 14