DNV GL © 2019 13 November 2019 SAFER, SMARTER, GREENERDNV GL © 2019

13 November 2019

Tom Arne Pedersen and Jon Arne Glomsrud

DNV GL Group Technology and Research

Towards Simulation-based Verification of Autonomous Navigation SystemsThe International Maritime and Port Technology and Development Conference (MTEC)

DNV GL © 2019 13 November 20192

Motor_vessel:99% Motor_vessel:97% Motor_vessel:93%

Ship external / internal condition detection

Situational awareness of operating environment

and ship capabilityAction Planning Action Control

RISKMinimum Risk Condition

DNV GL © 2019 13 November 20193

Test System for Autonomous Vehicles

Ship external / internal condition detection

Situational awareness of operating environment

and ship capabilityAction Planning Action Control

DNV GL © 2019 13 November 2019

Test System for Autonomous Vehicles

4

Scenario Manager

MetoceanconditionsTraffic

MapVesselconfiguration

Test Evaluation

COLREGS

Safety

Rules & regulations

White box

White box

DIGITAL TWIN / System

Black box

Vessel dynamics Radar Lidar

Camera IR

Gyro HPR

GPS MRU

Thruster dynamics

Generator dynamics

Hotel loads Ballast system

DP System

Situational awareness

Autonomous navigation

MotionSensorinput

OPERATING ENVIRONMENT

Grey box

WindWavesCurrent

Geographic location

Interactive traffic

situation

1

2

Alarms, actions

3

Scenario log4

TEST MANAGEMENTSYSTEM

VIRTUAL WORLD

TEST IN

TERFA

CE

DNV GL © 2019 13 November 2019

How to interpret COLREG?

Not suitable for direct implementation in code–Due regard, immediate danger, appropriate distance,

ample time readily apparent etc.

Interpretation required– How can we ensure that the interpretation is correct?

How to evaluate COLREG performance?– At what distance should maneuver start? What maneuver is

correct? Course change/speed change/combination? What passing distance is acceptable?

It depends on the situation

DNV GL © 2019 13 November 2019

Scenario Evaluation - Woerner

DNV GL © 2019 13 November 2019

Scenario Evaluation – Nakamura & Okada

score =∑𝑡𝑡=0𝑡𝑡𝑒𝑒𝑒𝑒𝑒𝑒 − (2 ∙ 𝐷𝐷𝐷𝐷𝑒𝑒𝐷𝐷𝑒𝑒𝐷𝐷𝐷𝐷𝐷𝐷𝑠𝑠𝑡𝑡 + 1 ∙ 𝐶𝐶𝐷𝐷𝐷𝐷𝑡𝑡𝐶𝐶𝐷𝐷𝑒𝑒𝐷𝐷𝐷𝐷𝐶𝐶)

𝑡𝑡𝑒𝑒𝑒𝑒𝑒𝑒

DNV GL © 2019 13 November 2019

Vendor scopeDNV GL scope

Test System for Autonomous Vehicles

8

Scenario Manager

MetoceanconditionsTraffic

MapVesselconfiguration

Test Evaluation

COLREGS

Safety

Rules & regulations

White box

White box

DIGITAL TWIN / System

Black box

Vessel dynamics Radar Lidar

Camera IR

Gyro HPR

GPS MRU

Thruster dynamics

Generator dynamics

Hotel loads Ballast system

DP System

MotionSensorinput

OPERATING ENVIRONMENT

Grey box

WindWavesCurrent

Geographic location

Interactive traffic

situation

1

2

Alarms, actions

3

Scenario log4

TEST MANAGEMENTSYSTEM

VIRTUAL WORLD

TEST IN

TERFA

CE

Situational awareness

Autonomous navigation

DNV GL © 2019 13 November 2019

Vendor scope

Objectivity / Independence

9

DIGITAL TWIN / System

Black box

Vessel dynamics Radar Lidar

Camera IR

Gyro HPR

GPS MRU

Thruster dynamics

Generator dynamics

Hotel loads Ballast system

DP System

Automation systems

Autoremotesystems

MotionSensorinput

OPERATING ENVIRONMENT

Grey box

WindWavesCurrent

Geographic location

Interactive traffic

situation

VIRTUAL WORLD

TEST IN

TERFA

CE

No restrictions on test scope

Possible to access all relevant signals

Possible to validate the correctness of the simulator and all its

components

Possible to validate the correctness of the interface between simulator, test interface and control system

software

DNV GL © 2019 13 November 2019

Testing the test system

DNV GL © 2019 13 November 2019

Vendor scopeDNV GL scope

Testing the test system – Generic setup

11

Scenario Manager

MetoceanconditionsTraffic

MapVesselconfiguration

Test Evaluation

COLREGS

Safety

Rules & regulations

OPERATING ENVIRONMENT

MotionSensorinput

Grey box

Black box

White box

Alarms, actions

Scenario log

White box

DIGITAL TWIN / System

Vessel dynamics Radar Lidar

Camera IR

Gyro HPR

GPS MRU

Thruster dynamics

Generator dynamics

Hotel loads Ballast system

DP System

WindWavesCurrent

Geographic location

Interactive traffic

situation

1

2

3

4

TEST MANAGEMENTSYSTEM

VIRTUAL WORLD

TEST IN

TERFA

CE

Situational awareness

Autonomous navigation

DNV GL © 2019 13 November 2019

DNV GL scope FFI scope

DNV GL scopeDNV GL scope

Testing the test system – FFI

12

Scenario Manager

MetoceanconditionsTraffic

MapVesselconfiguration

Test Evaluation

COLREGS

Safety

Rules & regulations

OPERATING ENVIRONMENT

MotionSensorinput

Grey box

Black box

White box

Alarms, actions

Scenario log

White box

DIGITAL TWIN / System

Vessel dynamics Radar Lidar

Camera IR

Gyro HPR

GPS MRU

Thruster dynamics

Generator dynamics

Hotel loads Ballast system

DP System

Autoremoteystems

WindWavesCurrent

Geographic location

Interactive traffic

situation

1

2

3

4

TEST MANAGEMENTSYSTEM

VIRTUAL WORLD

TEST IN

TERFA

CE

Situational awareness

Autonomous navigation

DNV GL © 2019 13 November 2019

Testing the test system – Test setup

DNV GL © 2019 13 November 2019

Contacts:- Head on

DNV GL © 2019 13 November 2019

Contacts:- Head on- Crossing

DNV GL © 2019 13 November 2019

Possible test scope for an autonomous navigation system

Generic, predefined & stylistic single COLREG scenarios

Generic, predefined & more complex scenarios with multiple COLREGs and multiple target ships

Location and operation specific scenarios, including historical cases and known incidents

Automated, adaptive search for critical scenarios

DNV GL © 2019 13 November 2019

Next step - Co-simulation in the cloud

Sim node

F G H

Sim node

D E

Sim node

O P

Sim node

L M N

Sim node

I J

Sim node

K

Sim node

A B C

DNV GL © 2019 13 November 2019

Tom Arne Pedersen

Jon Arne Glomsrud

DNV GL Group Technology & Research

Thank you for your attention