Vehicle-in-the-loop: Innovative Testing Method for ... · Software Engineering Information Process...

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Vehicle-in-the-loop: Innovative Testing Method for Cognitive Vehicles Dr.-Ing. Thomas Schamm, M.Sc. Marc René Zofka, Dipl.-Inf. Tobias Bär Technical Cognitive Assistance Systems FZI Research Center for Information Technology

About us §  Foundation of the state Baden-

Wuerttemberg §  Member of Innovationsallianz

Baden-Württemberg and Technologieregion Karlsruhe

§  Innovation hub in Baden-Wuerttemberg for information technology

§  Innovation partner of the Karlsruhe Institute of Technology

§  Medium-sized provider of research services

Figures and facts 2013 §  Overall budget: 14 M € §  Researchers: 135 §  More than 200 projects,

orders directly from the industry and publicly funded joint projects

§  Certified Quality Management System according to ISO 9001

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The FZI

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FZI’s formula for success: a strong network

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Targeted research: Our research fields

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Software Engineering

Information Process Engineering

Intelligent Systems and Production Engineering

Embedded Systems and Sensors Engineering

IT -

Cor

e Te

chno

logy

Application Fields

Mobility Automation Production Logistics

Knowledge Information

Society

Health Care

Energy Software

Big Data &

Intelligent Vehicles

IT – Quality & Security

Service robotics

eMobility

Embedded Systems Design Automation Trusted Cloud Computing

Energy Management

Logistics & Supply chain optimization Life Cycle Management

Smart Home Ambient Assisted Living

Multiplatform & Software Architectures

Automated Driving

Mobile Business Processes

Parallel Processing

Industry 4.0

Knowledge Management

Complex Event Processing

eLearning

Four research divisions at FZI cover the entire innovation cycle of applied research:

… is a unique research environment in emergent markets §  FZI Living Lab smartAutomation §  FZI Living Lab smartEnergy §  FZI Living Lab smartHome/Ambient Assisted Living §  FZI Living Lab smartMobility §  FZI Living Lab Service Robotics §  FZI Living Lab Automotive §  FZI Living Lab mobileIT/mobileBusiness §  FZI Living Lab smartSecurity

The FZI House of Living Labs …

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The FZI House of Living Labs …

… integrates all FZI Living Labs … offers a modern infrastructure for development, evaluation and

presentation of trend-setting technologies … provides research and development for all trades §  Interdisciplinary development of integrative ICT solutions with

partners from industry, science and society §  Novel research environment especially for SMEs

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Research Project: ReTivU

§  Real testing in virtual environment („Reales Testen in virtueller Umgebung“)

§  Common research Project between FZI and IPG

§  Founded by BMWi

§  Run-time: 03/2013 – 02/2015

§  Goals §  Developing and Testing of ADAS §  Testing ADAS with Driver as Unit-under-Test §  Integration platform for different complementary simulation tools

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ReTivU - Overview

Retivu

Traffic Simulation

Augmented Reality

Instrumented Test Vehicle

Vehicle Simulation


ReTivU – Vehicle Simulation


§  IPG CarMaker

§  Vehicle Simulation

§  Environment Simulation §  Static Elements §  Dynamic Elements

ReTivU – Virtual and Augmented Reality


§  Task: Measure driver‘s head due to vehicle‘s influences in order to move virtual camera

§  Possible sensor techniques

§  Laser-based §  Expensive

§  Inertial sensors §  Accelerometer, §  Gyroscopes and §  Magnetometer

§  Optical sensors §  Illumination effects §  Shutter techniques

ReTivU – Virtual and Augmented Reality


§  Task: Display virtual environment to test engineer

§  Possible techniques §  Virtual Reality §  Optical See-Through §  Video-See-Through

è Security Issues

Source: [Zofka2014]

ReTivU – Augmented Reality


ReTivU – Augmented Reality


Marker Setup

Tooling for -  Marker Calibration -  Marker Detection -  Head Pose Estimation

Semivirtual Simulation of Vision-based ADAS

§  Testing of Vision-based Vehicle Classification and Tracking §  Using simulations … §  On real test drives … §  Why not testing on mixed reality?


Traffic flow simulation: SUMO

§  DLR Simulation of Urban Mobility §  Microscopic Traffic Simulation §  Realistic traffic scenarios

§  Road Networks §  Vehicle Following Behaviour §  Traffic Signal

§  APO-TCP Interface between CoCar, CarMaker and SUMO

§  Idea: Testing of ADAS capabilities in complex virtual traffic situations


Karl-Wilhelm-Platz, Karlsruhe

Traffic flow simulation: SUMO


CoCar – Instrumented Test Vehicle

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3D TOF-Kamera

GPS 3D TOF-Kamera

Laserscanner

Farbkamera

Inertialsensorik

Laserscanner

Laserscanner

Farbkamera

Stereokamera

Lenkung

Gas Bremse

ReTivU - Goals

§  Adaption of the VIL methology [1] to highly autonomous vehicles

§  Integrative testing platform

§  Creation of an easy integratable product

§  Testing of §  Emergency Braking Assistant §  Parking Assistant §  Autonomus Drive


Literature

[Bock2008] Thomas Bock: Vehicle-in-the-loop, Cuvillier-Verlag [Zofka2014] M. Zofka et. al: Semivirtual Simulations for Vision-based ADAS, IEEE Intelligent Vehicles Symposium 2014, Detroit, Michigan


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