Hardware-in-the-Loop-gestützte Entwicklungsplattform für Fahrerassistenzsysteme – Modellierung und Visualisierung des Fahrzeugumfeldes (English shop)

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Driver assistance systems in modern motor vehicles, e.g. the so-called adaptive cruise control, base their control strategy not only on the recorded motion state of the ego vehicle, but instead consider this vehicle within their control strategy as part of the traffic flow observed by an environment sensor system. Owing to the task of such assistance systems to protect road users from harm by actively intervening in vehicle guidance, e.g. by decelerating, such systems increasingly count among the safety-relevant components of a motor vehicle.

In this context, this dissertation describes the modelling and visualisation of the vehicle environment as it can be used by a development platform for testing the driver assistance systems characterised above. In doing so, the system environment of these assistance systems is reproduced by several simulation modules on a real-time simulator, which enables reproducible testing that is consistent throughout the development process.

A three-dimensional, analytical road model is defined as the reference point for the various simulation modules. Through the presented option of representing the position of a road user in different coordinate systems, the individual simulation modules of the test environment can be developed in the coordinate representation that is optimal for their respective application purpose. A functional coupling of the individual simulation modules with one another is then made possible by agreeing on a uniform set of coordinates.

For the visualisation of the road course required for the test environment, suitable data structures are developed that can be processed by modern graphics systems. In contrast, the visualisation of the road users is carried out by means of a multibody system that enables various application cases of vehicle simulation and allows a user of the test environment to easily parameterise the vehicles to be displayed.

In order to make the various concepts for modelling and visualising the system environment accessible to a user of the test environment, the concept of the simulation environment is presented. With the aid of this simulation environment, the various parameters for carrying out a test, e.g. the number of other vehicles required and the driving manoeuvres they are to perform, can be defined clearly and the individual simulation modules thereby configured in a problem-adapted manner.

The configuration of the simulation environment is carried out by means of the developed program system PRAETORIA, which can moreover also be used for the visualisation of the vehicle environment by the HiL simulator and for the SiL simulation of the developed simulation modules. Through the integration of a co-simulation into this SiL environment of PRAETORIA, a coupling to the established simulation tools can take place and thus a functional test of driver assistance systems can be carried out already during the development phase.

Initial experience in the use of the test environment was gained in the EU research project DECOS. The aim of this research project is to test new methods and technologies for the development of safety-relevant, distributed systems. Using the methodology and system architecture developed in this project, several driver assistance systems for monitoring the environment of a motor vehicle were implemented and the corresponding proof of function was provided by operating them with the presented development platform on a HiL simulator.