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Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment
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作者 René Degen Martin de Fries +3 位作者 Alexander Nüßgen Marcus Irmer Mats Leijon Margot Ruschitzka 《Journal of Transportation Technologies》 2023年第1期87-114,共28页
The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments... The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions. 展开更多
关键词 Sensor Model Virtual Test Environment Stereoscopic Camera Unreal Engine OPENCV adas/ad
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自动驾驶场地测试平台车国产化研发与验证
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作者 韩忠良 徐蒙 +3 位作者 杨建森 刘忠海 贯生静 张志国 《中国汽车》 2023年第4期12-17,共6页
本文根据汽车先进驾驶辅助系统(ADAS)和自动驾驶(AD)测试标准要求,自主开发了一种ADAS/AD场地测试用的假人和两轮车目标物承载平台车,进行了平台车系统的动力学建模和速度、位置、姿态控制器设计,以及软硬件方案和通信链路优化,实现了... 本文根据汽车先进驾驶辅助系统(ADAS)和自动驾驶(AD)测试标准要求,自主开发了一种ADAS/AD场地测试用的假人和两轮车目标物承载平台车,进行了平台车系统的动力学建模和速度、位置、姿态控制器设计,以及软硬件方案和通信链路优化,实现了可视化测试场景搭建并完成了整体测试。实际应用表明,该平台车系统满足C-NCAP和E-NCAP测试规范,相关工况功能触发完整,数据传输正确,平台车在加速段和匀速段等的控制精度均满足C-NCAP和E-NCAP测试要求。另外,平台车可通过整改升级来满足未来的标准。 展开更多
关键词 adas/ad 试验场测试 目标物承载平台车 C-NCAP测评规范
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Methodical Approach to Integrate Human Movement Diversity in Real-Time into a Virtual Test Field for Highly Automated Vehicle Systems
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作者 René Degen Alexander Tauber +5 位作者 Alexander Nüßgen Marcus Irmer Florian Klein Christian Schyr Mats Leijon Margot Ruschitzka 《Journal of Transportation Technologies》 2022年第3期296-309,共14页
Recently, virtual realities and simulations play important roles in the development of automated driving functionalities. By an appropriate abstraction, they help to design, investigate and communicate real traffic sc... Recently, virtual realities and simulations play important roles in the development of automated driving functionalities. By an appropriate abstraction, they help to design, investigate and communicate real traffic scenario complexity. Especially, for edge cases investigations of interactions between vulnerable road users (VRU) and highly automated driving functions, valid virtual models are essential for the quality of results. The aim of this study is to measure, process and integrate real human movement behaviour into a virtual test environment for highly automated vehicle functionalities. The overall system consists of a georeferenced virtual city model and a vehicle dynamics model, including probabilistic sensor descriptions. By motion capture hardware, real humanoid behaviour is applied to a virtual human avatar in the test environment. Through retargeting methods, which enable the independency of avatar and person under test (PuT) dimensions, the virtual avatar diversity is increased. To verify the biomechanical behaviour of the virtual avatars, a qualitative study is performed, which funds on a representative movement sequence. The results confirm the functionality of the used methodology and enable PuT independence control of the virtual avatars in real-time. 展开更多
关键词 advanced Driver Assistance Systems/Automated Driving (adas/ad) Autonomous Mobility Virtual Testing Motion Capture
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