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