Authors:
Mohamed Elgharbawy, Andreas Schwarzhaupt, Marco Weiskopf, Michael Frey, Frank Gauterin
Keywords:
multisensor data fusion, dynamic behavior testability, mahalanobis distance, hardware-in-the-loop co-simulation
Abstract:
This paper presents a novel approach for the verification of multisensor data fusion algorithms in complex automotive sensor networks. Multisensor fusion plays a central role in enhancing the interpretation of traffic situations, facilitating inferences and decision making. It has therefore been instrumental in the ongoing innovation of Advanced Driver Assistance Systems (ADAS) which paves the way to autonomous driving. We introduce a real-time framework which can benchmark the performance of the fusion algorithms at the electronic system level using a Hardware-in-the-Loop (HiL) co-simulation. The presented research provides a quantitative approach for a trade-off between physical realism and computational efforts of the real-time synthetic simulation. The proposed framework illustrates a generic architecture of ADAS sensor error injection for robustness testing of the System under Test (SuT). We construct a lemniscate model for errors to find multivariate outliers with the Mahalanobis distance. A critical driving scenario considering road users in urban traffic describes the dynamic behavior testability of the fusion algorithms. The industry-proven framework facilitates a functional verification of multisensor-fusion-based object detection precisely and more efficiently on the target electronic control unit (ECU) in the laboratory.
Elgharbawy M.; Schwarzhaupt A.; Weiskopf M.; Frey M. and Gauterin F. A Real-Time Multisensor Fusion Verification Framework for Advanced Driver Assistance Systems In: Proceedings of the Driving Simulation Conference 2016 Europe, Driving Simulation Association, Paris, France, 2016, pp. 145-149
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@inproceedings{Elgharbawy2016,
title = {A Real-Time Multisensor Fusion Verification Framework for Advanced Driver Assistance Systems},
author = {Mohamed Elgharbawy and Andreas Schwarzhaupt and Marco Weiskopf and Michael Frey and Frank Gauterin},
editor = {Andras Kemeny and Frédéric Merienne and Florent Colombet and Stéphane Espié},
issn = {0769-0266},
year = {2016},
date = {2016-09-07},
booktitle = {Proceedings of the Driving Simulation Conference 2016 Europe},
pages = {145-149},
address = {Paris, France},
organization = {Driving Simulation Association},
abstract = {This paper presents a novel approach for the verification of multisensor data fusion algorithms in complex automotive sensor networks. Multisensor fusion plays a central role in enhancing the interpretation of traffic situations, facilitating inferences and decision making. It has therefore been instrumental in the ongoing innovation of Advanced Driver Assistance Systems (ADAS) which paves the way to autonomous driving. We introduce a real-time framework which can benchmark the performance of the fusion algorithms at the electronic system level using a Hardware-in-the-Loop (HiL) co-simulation. The presented research provides a quantitative approach for a trade-off between physical realism and computational efforts of the real-time synthetic simulation. The proposed framework illustrates a generic architecture of ADAS sensor error injection for robustness testing of the System under Test (SuT). We construct a lemniscate model for errors to find multivariate outliers with the Mahalanobis distance. A critical driving scenario considering road users in urban traffic describes the dynamic behavior testability of the fusion algorithms. The industry-proven framework facilitates a functional verification of multisensor-fusion-based object detection precisely and more efficiently on the target electronic control unit (ECU) in the laboratory.},
keywords = {dynamic behavior testability, hardware-in-the-loop co-simulation, mahalanobis distance, multisensor data fusion},
}
Download .bib file
TY - CONF
TI - A Real-Time Multisensor Fusion Verification Framework for Advanced Driver Assistance Systems
AU - Elgharbawy, Mohamed
AU - Schwarzhaupt, Andreas
AU - Weiskopf, Marco
AU - Frey, Michael
AU - Gauterin, Frank
C1 - Paris, France
C3 - Proceedings of the Driving Simulation Conference 2016 Europe
DA - 2016/09/07
PY - 2016
SP - 145
EP - 149
LA - en-US
PB - Driving Simulation Association
SN - 0769-0266
L2 - https://proceedings.driving-simulation.org/proceeding/dsc-2016/a-real-time-multisensor-fusion-verification-framework-for-advanced-driver-assistance-systems
ER -
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