Wallace, Albert, Khastgir, Siddartha, Zhang, Xizhe, Brewerton, Simon, Anctil, Benoit, Burns, Peter, Charlebois, Dominique and Jennings, Paul. A. (2022) Validating simulation environments for automated driving systems using 3d object comparison metric. In: 33rd IEEE Intelligent Vehicles Symposium, Aachen, Germany, 05-09 Jun 2022. Published in: Proceedings of the IEEE Symposium on Intelligent Vehicles (In Press)

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Abstract

One of the main challenges for the introduction of Automated Driving Systems (ADSs) is their verification and validation (V&V). Simulation based testing has been widely accepted as an essential aspect of the ADS V&V processes. Simulations are especially useful when exposing the ADS to challenging driving scenarios, as they offer a safe and efficient alternative to real world testing. It is thus suggested that evidence for the safety case for an ADS will include results from both simulation and real-world testing. However, for simulation results to be trusted as part of the safety case of an ADS for its safety assurance, it is essential to prove that the simulation results are representative of the real world, thus validating the simulation platform itself.
In this paper, we propose a novel methodology for validating the simulation environments focusing on comparing point cloud data from real lidar sensor and a simulated lidar sensor model. A 3D object dissimilarity metric is proposed to compare between the two maps (real and simulated), to quantify how accurate the simulation is. This metric is tested on collected lidar point cloud data and the simulated point cloud generated in the simulated environment.

Item Type:	Conference Item (Paper)
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Library of Congress Subject Headings (LCSH):	Automated vehicles, Automated vehicles -- Safety measures, Computer simulation
Journal or Publication Title:	Proceedings of the IEEE Symposium on Intelligent Vehicles
Publisher:	IEEE
Official Date:	2022
Dates:	Date Event 2022 Published 10 April 2022 Accepted
Status:	Peer Reviewed
Publication Status:	In Press
Reuse Statement (publisher, data, author rights):	© 2022 IEEE.  Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Copyright Holders:	IEEE
RIOXX Funder/Project Grant:	Project/Grant ID RIOXX Funder Name Funder ID UNSPECIFIED Transport Canada http://dx.doi.org/10.13039/100014615 MR/S035176/1 UK Research and Innovation http://dx.doi.org/10.13039/100014013 UNSPECIFIED Great Britain. Department of Transport http://viaf.org/viaf/157632511
Conference Paper Type:	Paper
Title of Event:	33rd IEEE Intelligent Vehicles Symposium
Type of Event:	Conference
Location of Event:	Aachen, Germany
Date(s) of Event:	05-09 Jun 2022
Related URLs:	Organisation Publisher

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