Simulation Driven Development Process Utilizing Carla Simulator for Autonomous Vehicles

Minseok Won, Minseok Won, Shiho Kim

2022

Abstract

We present a new approach to design the system of autonomous vehicles based on practical test scenarios in simulation. As the level of driving automation functions advances, various events and problems have occurred in many unexpected or unseen situations, so the design of autonomous driving systems is required to be more robust and sufficiently practical. We propose a Simulation Driven Development Process (SDDP) based on practical test scenarios in a simulation environment. We described the Euro NCAP test scenarios and harsh conditions using the ASAM OpenSCENARIO format and implemented them using the Carla simulator. We can verify how realistic and functional the system requirements are through the simulation results. It is also possible to derive numerical values optimized for Advanced Driver Assistance System (ADAS) function safety from the simulation results, and we can get the requirements robust and improve ADAS performance by applying them to V-model. We created the Euro NCAP AEB-VRU test scenario to design an effective AEB function. We used RoadRunner to build the test road and used ScenarioRunner to render the test scenario written by ASAM OpenSCENARIO format according to Euro NCAP test requirement. The result of AEB-VRU has been investigated under normal conditions and harsh environments as well. This work shows that we can extend the safety of the AEB function by changing the vehicle speed according to situation perception, which indicates the possibility of utilization of a simulator for autonomous vehicle system design.

Paper Citation

in Harvard Style

Won M. and Kim S. (2022). Simulation Driven Development Process Utilizing Carla Simulator for Autonomous Vehicles. In Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-578-4, pages 202-209. DOI: 10.5220/0011139300003274

in Bibtex Style

@conference{simultech22,
author={Minseok Won and Shiho Kim},
title={Simulation Driven Development Process Utilizing Carla Simulator for Autonomous Vehicles},
booktitle={Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2022},
pages={202-209},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011139300003274},
isbn={978-989-758-578-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 12th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Simulation Driven Development Process Utilizing Carla Simulator for Autonomous Vehicles
SN - 978-989-758-578-4
AU - Won M.
AU - Kim S.
PY - 2022
SP - 202
EP - 209
DO - 10.5220/0011139300003274