Virtual development and testing of autonomous vehicles - LCV 2018 Mike Dempsey Managing Director - Cenex-LCV
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Virtual development and testing
of autonomous vehicles
Mike Dempsey
Managing Director
LCV 2018
Copyright © Claytex Services Limited 2018
Who are Claytex?
• Model-based engineering analysis consultancy
– Innovators in CAE process
– Leading the way on zero-prototype development
– Specialists in high-fidelity real-time simulation
– Users of Dymola and Modelica since 1999
• Provider of software solutions for systems engineering
– Dymola distributors since 2003
– Dassault Systemes partner since 2008
– rFpro system integrator and distributor since 2009
• Modelica library and FMI tool developers
• Dassault Systemes Certified Education Partner
• Offices in the UK, USA and South Africa
• Major customers include Automotive OEM’s, suppliers and
Motorsport teams (Formula 1, NASCAR, Indycar, Formula E)
Copyright © Claytex Services Limited 2018
Autonomous Vehicles Are Coming!
Copyright © Claytex Services Limited 2018
How do we prove the AI is safe?
• Research has been carried out to
determine the amount of testing
required to prove autonomous
vehicles are safer than human
drivers
• Each software/hardware release
will have to be validated
• However, this is not physically
possible
Source: Rand Corporation
Copyright © Claytex Services Limited 2018
Testing autonomous vehicles
Simulation Proving Grounds Field Tests
• Huge number of scenarios can be • Recreate critical scenarios • Investigation of real driving
considered • Limited control of the environment situations
• Full control of virtual environment: • Robot controlled targets • No control of the environment
traffic, pedestrians, weather, etc. • Pedestrian targets
• No control of weather and light
Copyright © Claytex Services Limited 2018
What must our simulation tool do to support this?
• Provide accurate models of real world locations
• Support interaction with traffic, pedestrians, animals
• Have a flexible approach to defining test scenarios
– Weather, time of day, location, etc.
• Allow human controlled vehicles to interact in the environment
• Allow multiple CAV to operate in the same environment
• Run in real-time to support HiL integration of the AI processor
• Provide sensor models that replicate the real sensors
– radar, LiDAR, ultrasound, camera, GPS, etc.
• Support the integration of your vehicle physics model
Copyright © Claytex Services Limited 2018
• Solution for the
testing and
development of
ADAS and
autonomous
systems
• Origins as a
Driver-in-the-Loop
simulation
environment
Copyright © Claytex Services Limited 2018
Virtual Proving Ground
• rFpro Virtual Proving Ground includes
– Black lake – large flat area for steering
assessment including cone slaloms and
constant radius cornering area
– 2 mile straights
– Constant radius banked track for high speed
testing
– Short and long handling tracks
– Urban environment
Copyright © Claytex Services Limited 2018
Real world locations
• 100km’s of real world locations are available
• Proving grounds: Idiada, Millbrook, Mcity, SMLL
• Race tracks: Nordschleife, full Formula 1 and NASCAR
calendars, partial Formula E calendar and many other
tracks worldwide
• Public roads including locations in:
– France, Germany, USA, Canada, Italy, China
Copyright © Claytex Services Limited 2018
Traffic
• rFpro connects to wide range of traffic
modelling tools
– SUMO, IPG Traffic, PTV Vissim, Vires VTD,
Forum 8
• The traffic pack of vehicles covers road cars,
HGV and pedestrians
• Allows control of traffic lights, etc.
Copyright © Claytex Services Limited 2018Control weather conditions
Copyright © Claytex Services Limited 2018Control the lighting conditions
Copyright © Claytex Services Limited 2018Wet roads Copyright © Claytex Services Limited 2018
Vehicle Physics
• Wraps around your vehicle model
– Supports Dymola, CarMaker, CarSim,
SIMPACK, Dynaware, AVL_VSM, VI-
Grade, dSPACE_ASM, Simulink and C++
• Includes the rFpro TERRAIN_SERVER
– Provides high frequency road surface
information to the vehicle model
• Supports integration with HIL
– Off-the-shelf implementations for
Concurrent Realtime, dSPACE,
Speedgoat
• Claytex uses Dymola with multi-domain
vehicle models
Copyright © Claytex Services Limited 2018Vehicle Systems Modelling and Analysis
• Suite of Modelica libraries for Vehicle
Systems Modelling and Analysis
• Core platform enables performance,
fuel economy and energy analysis
– Drive cycle simulation
• Application specific extensions
provide detailed models across many
areas
– Engines, powertrain, vehicle
dynamics, driver-in-the-loop
• Used for modelling conventional,
hybrid and electric vehicles
• Real-time capable
• Integrates with rFpro
Copyright © Claytex Services Limited 2018Testing entire toolchain
Validate vs Control
rFpro Ground truth systems
Sensor Algorithms Vehicle
model physics
HUMAN
TEST
DRIVER
Copyright © Claytex Services Limited 2018Sensor feeds
• Apply effects to replicate what the
sensors see
– Lens distortion effects
– Dirt
• Normal and Fisheye camera views
• Depth map and object lists
• Open API to access all this data
Copyright © Claytex Services Limited 2018Sensor modelling
• Claytex are developing sensor models for rFpro
• Generic set of idealised sensor models
– Camera, LiDAR, Radar and Ultrasound
– Built on a common framework to allow easy
adaptation to model specific devices
– Supports TCP/IP and UDP outputs
• Developing a library of models that represent real
sensors
– Produce the same output message format
– Capture the dynamics of the sensor e.g. rotation of
sensor with time
– Appropriate lighting of scene for LiDAR
• Active R&D projects to increase fidelity of sensor
models
Copyright © Claytex Services Limited 2018Copyright © Claytex Services Limited 2018
Validate algorithms
• Semantic segmentation of the
environment
– Access full object list
• Render the scene with each object
type using a unique colour
• Semantic Recorder
– Captures frame by frame pixel
colours, range and object list
• Enables validation of your
perception algorithms
Copyright © Claytex Services Limited 2018dRISK
• An Innovate UK Funded project
– 2 years, £3.8m project
• Innovations:
– Use of AI and NASA-grade fault detection methods to integrate a
wide variety of risk data, from CCTV video, to accident reports, to
crowdsourcing from the ultimate stakeholder -- the UK citizen.
– Establishes a single, comprehensive human- and computer-
readable representation of risk – the first knowledge graph for
CAVs
– Application of this knowledge graph to adaptively test the vehicle
control system (VCS)
– Development and adaptation of simulation capabilities at multiple
levels: sensor, vehicle-level, traffic-level and cyber-level.
– Provides a comprehensive risk assessment framework to
stakeholders (e.g. regulators) in a usable form
Copyright © Claytex Services Limited 2018dRISK – a comprehensive AV risk modelling tool
Copyright © Claytex Services Limited 2018Summary
• Simulation will be an essential part of the
development and testing of autonomous
vehicles
• Your tools need to provide:
– detailed models of the environment
– open API to allow sensor models to access
details about the environment
– support for HIL to include the real controller
– vehicle physics model
• rFpro offers all these capabilities
Copyright © Claytex Services Limited 2018Come and see us on stand C4-404
Thank you
Mike Dempsey
mike.dempsey@claytex.com
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