Study on Full Scale Testbench Based Vehicle-In-The-Loop Simulation Testing for Automated Vehicles

초록

Testingandvalidatingautomatedvehiclesiscrucial but challengingdue toconstraints inspace, time, cost, andthe risksassociatedwithusingrealvehicles.Drivingsimulatorshave emergedasanalternativeway for thispurpose, but theyhave difficulties in replicating the dynamic characteristics of the vehicle.Tosolvethis issue, thisstudyaimstoapplyavehicle-in the-loop (VIL) simulation verification method that reflects vehicle characteristics for testing and validating fully autonomousvehicles.Thisisachievedbyreceivingtheresponses of the autonomous vehicle controller via a testbench-based chassisdynamometerandprovidingthesensoroutputsrequired forfullautonomytotheautonomousvehiclecontrollerthrougha drivingsimulator.Thesensoroutputsimplementedinthedriving simulatorareprovidedtotheexistingadvanceddriverassistance system(ADAS) throughover-the-air (OTA) stimulation,which usesphysical sensor signalsbut originallygenerated invirtual world. Inaddition, for simultaneous transmissionof high-level sensordata, suchasmulti-channelLiDARandcameras,which aretechnicallyandfinanciallychallengingforOTAstimulation,a dedicatedsensordatainterfaceandpacketstructuredesignedfor thispurpose isused to inject the sensordatadirectly into the autonomous