www.pegasusprojekt.de
SOFTWARE-IN-THE-LOOP
Testing and Safeguarding – Stand 16
PEGASUS enables the connection to existing tools.How are existing SiL-Tools integrated into the toolchain and the test field?
Motivation:- Using a common toolchain to execute tests- Common interfaces inside the toolchain enables an interchangeability of tools
Common Toolchain
Test Automation
Test deductionStochastics-Module
Test Control
Scenario-database
Logical Scenario+ Parameter space+ Evaluation criteria
Simulation Tool
Models
DrivingFunction
Sensor Models
Overall Result
Result Evaluation
Concrete ScenarioOpenScenario
OSI or OEM-Connection
OSI or OEM-Connection
Test Results inmat or hdf5
www.pegasusprojekt.de
3
2
1
30 40 50 60 70 80 90 100 110 120Geschwindigkeit v [km/h]
Besc
hleu
nigu
ng a
[m/s
²]
Traffic Jam
Varied Parameters Lower Bound
Upper Bound
Speed v"# 30 km/h 120 km/hDeceleration a"# 1 m/s² 3 m/s²
Pass/Fail Criterion LowerBound
Upper Bound
Time To Collision TTC'() 0 s -
– Realization
Ego A1
1
2v"#, a"#TTC+,-
1 2
TTC = 0,966s
TTC = 6,305s
Test AutomationTest Deduction
Stochastics-ModuleTest Control
Simulation Tool
Sensor Models
Overall Result
Scenario-database
Result Evaluation
Dec
eler
atio
n a
[m/s
²]
Speed v [km/h]
0
10
20
10 20 30 40
TTC [s] THW [s]
0
10
20
10 20 30 40
TTC [s] THW [s]
TTC
, TH
W [s
]
TTC
, TH
W [s
]
Simulation Time [s] Simulation Time [s]
SOFTWARE-IN-THE-LOOP
Testing and Safeguarding – Stand 16
www.pegasusprojekt.de
Ø Pass-Criterium: no accident, i.e.time-to-collision > 0 s
Ø Varied Parameters:
Test-Case Description Visualization of Results
Parameter LowerBound
UpperBound
cut-in speed (final) 𝑣end 20 m/s 27,7 m/scut-in duration 𝑡 3 s 4 scut-in distance 𝑑' 10 m 20 m
2
1
1 2Uncritical Case Critical Case
Uncritical Case:𝑣end= 25 m/s, t = 4 s,𝑑' = 20 m, 𝑇𝑇𝐶567 = 17,1s
Video 1 Video 2
EGO
Simulation-ToolDB
1 logical scenario+ parameters+ test criteria
Functions + Models
Sim-Results: JSON + mat orhdf5
Testnachsteuerung
„100“ concretescenarios
Results Evaluation (local)
OSI
Sensor Models
Overall-Results
Test AutomationStochastics-Module
BMW - Realization
Critical Case:𝑣end = 20.8 m/s, t = 3 s,𝑑' = 10 m, 𝑇𝑇𝐶567 = 1,5s
2A2_Cut-In_duration:
A2_Cut-In_duration:
A2_Cut-In_distance:
A2_Cut-In_distance:
A2_Cut-In_distance:
A2_speed_final:
A2_speed_final:
A2_speed_final:
A2_speed_final:
Simulation TimeSimulation Time
SOFTWARE-IN-THE-LOOP
Testing and Safeguarding – Stand 16
www.pegasusprojekt.de
Change lane Stationary vehicle
Ø Pass-Criterium:No accident:Residual distance >0
EGO
Ø Result:
Ø Parameter with 5 adjustment steps:
SOFTWARE-IN-THE-LOOP
Test & Validation – Stand 16
Test case description Result:
-Realization
Parameter Lowerlimit
Upperlimit
Mass EGO 𝑚 1600 kg 2200 kgCut out time 𝑠 2 s 5 sCut out point 𝑑: 0 m 20 mSpeed 𝑣 50 km/h 80 km/h
Simulation Noaccident Accident „relevant“
(TTC < 1,0 s)625 625 0 352
2
1TTC (max: green, min: red)
0
5
10
15
20
50 57,5 65 75,5 80𝑣 [km/h]
𝑑 :[m
]
1 2Uncritical case Relevant case
Parameters of relevant case:𝑚 = 2200 kg; 𝑠 = 2 s; 𝑑: = 0 m; 𝑣 = 80 km/h; 𝑇𝑇𝐶567 = 0.676 s
Parameters of uncritical case:𝑚 = 1600 kg; 𝑠 = 5 s; 𝑑: = 20 m; 𝑣 = 50 km/h; 𝑇𝑇𝐶567 = 1.892 s
Video 1 Video 2
Test AutomationTest Deduction
Stochastics-ModuleTest Control
Simulation Tool
Sensor Models
Overall Result
Scenario-database
Result Evaluation
www.pegasusprojekt.de
SOFTWARE-IN-THE-LOOP
Test & Validation – Stand 16
Result diagram for case
Parameters of relevant case with parameter:𝑚 = 2200 kg; 𝑠 = 2 s; 𝑑: = 0 m; 𝑣 = 80 km/h; 𝑇𝑇𝐶567 = 0.676 s
Parameters of uncritical case :𝑚 = 1600 kg; 𝑠 = 5 s; 𝑑: = 20 m; 𝑣 = 50 km/h; 𝑇𝑇𝐶567 = 1.892 s
0
2
4
6
8
10
0
20
40
60
80
100
26 31 36 41
Plot of uncritical case
Time [s]
TTC
[s]
1 2Result diagram for case
0
2
4
6
8
10
0
20
40
60
80
100
26 28 30 32
𝑣[k
m/h
], 𝑎 <
=>[d
m/s²]
Time [s]
TTC
[s]
Plot of critical case
-Realization
𝑣[k
m/h
], 𝑎 <
=>[d
m/s²]
Validation of the relevant case on proving ground
Test AutomationTest Deduction
Stochastics-ModuleTest Control
Simulation Tool
Sensor Models
Overall Result
Scenario-database
Result Evaluation