New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is stil...New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.展开更多
The need to find alternative urban mobility solutions for delivery and transport has led mobility companies to devote enormous resources for research-based solutions to increase vehicle safety. This paper documents a ...The need to find alternative urban mobility solutions for delivery and transport has led mobility companies to devote enormous resources for research-based solutions to increase vehicle safety. This paper documents a virtual approach to investigate the influences of different load states to the vehicle dynamic of light electric vehicle. A model basing on a three-dimensional </span><span style="font-family:""><span style="font-family:Verdana;">multibody system was used, which consists of five bodies. By applying methods of multibody modelling the generalized equations of motion were generated. To </span><span style="font-family:Verdana;">include the behavior within the contact point between road and vehicle a</span><span style="font-family:Verdana;"> simplified tire models was added. The implementation of the equations allowed a first validation of the model via simulations. In a final modeling step the simulation results were interpreted in respect of plausibility. Afterwards, the model was simulated numerically to investigate different load states of the vehicle, by applying constant steering stimuli and variable velocities. In sum, the investigated model approach is useful to identify safety relevant parameters and shows the effects of load states to the vehicle dynamics. Furthermore, it behaves plausibly regarding general vehicle dynamics. These results prove </span><span style="font-family:Verdana;">the general usability of the model for the development controllers and esti</span><span style="font-family:Verdana;">mators in driver assistances systems.展开更多
文摘New approaches for testing of autonomous driving functions are using Virtual Reality (VR) to analyze the behavior of automated vehicles in various scenarios. The real time simulation of the environment sensors is still a challenge. In this paper, the conception, development and validation of an automotive radar raw data sensor model is shown. For the implementation, the Unreal VR engine developed by Epic Games is used. The model consists of a sending antenna, a propagation and a receiving antenna model. The microwave field propagation is simulated by a raytracing approach. It uses the method of shooting and bouncing rays to cover the field. A diffused scattering model is implemented to simulate the influence of rough structures on the reflection of rays. To parameterize the model, simple reflectors are used. The validation is done by a comparison of the measured radar patterns of pedestrians and cyclists with simulated values. The outcome is that the developed model shows valid results, even if it still has deficits in the context of performance. It shows that the bouncing of diffuse scattered field can only be done once. This produces inadequacies in some scenarios. In summary, the paper shows a high potential for real time simulation of radar sensors by using ray tracing in a virtual reality.
文摘The need to find alternative urban mobility solutions for delivery and transport has led mobility companies to devote enormous resources for research-based solutions to increase vehicle safety. This paper documents a virtual approach to investigate the influences of different load states to the vehicle dynamic of light electric vehicle. A model basing on a three-dimensional </span><span style="font-family:""><span style="font-family:Verdana;">multibody system was used, which consists of five bodies. By applying methods of multibody modelling the generalized equations of motion were generated. To </span><span style="font-family:Verdana;">include the behavior within the contact point between road and vehicle a</span><span style="font-family:Verdana;"> simplified tire models was added. The implementation of the equations allowed a first validation of the model via simulations. In a final modeling step the simulation results were interpreted in respect of plausibility. Afterwards, the model was simulated numerically to investigate different load states of the vehicle, by applying constant steering stimuli and variable velocities. In sum, the investigated model approach is useful to identify safety relevant parameters and shows the effects of load states to the vehicle dynamics. Furthermore, it behaves plausibly regarding general vehicle dynamics. These results prove </span><span style="font-family:Verdana;">the general usability of the model for the development controllers and esti</span><span style="font-family:Verdana;">mators in driver assistances systems.
