F2010C188
SiVIC, a virtual platform for ADAS and PADAS prototyping, test and evaluation
The LIVIC develops devices to assist and to improve safety of driving situations. The implementation of these devices is made on several vehicles equipped with an embedded architecture of perception and control/command systems. However, it appears necessary to find solution of substitution in case of lack of real data or when scenarios are too dangerous or too difficult to realize. Moreover, we want a solution which allows to test and to evaluate our embedded algorithms with very accurate references. The software architecture of SiVIC has been developed in that perspective. SiVIC models a virtual road environment including the vehicle, the infrastructure and the sensors. Moreover in order to achieve the test step of embedded software applications, an interconnection has been developed between SiVIC and RTMaps . RTMaps is a modular environment used in LIVIC to embed the LIVIC's software applications in our vehicles. In fact, SiVIC is a platform for prototyping virtual sensors. The goal of this software architecture is to reproduce, in the most faithful way, the reality of a situation as well as the behaviour of a vehicle and all its embedded sensors. Thus, this platform gives the possibility to generate data that can be recorded by RTMaps (vehicle's data acquisition system). This means managing a continuous flow of time-stamped and synchronized numerical data, from cameras, GPS, laser scanners, IR transmitters, inertial navigation equipments, odometers, etc. RTMaps can then replay the recorded scenarios. Hence it is possible to share data and to avoid the investment related to real experiments at an early stage of the research & development program. The coupling of SiVIC with RTMaps brings RTMaps the ability to replace real-life data by simulated data. Moreover it also allows opening in RTMaps the perspective for prototyping on desktop the control/command algorithms since SiVIC takes advantage of a physical car model. The need for an equipped vehicle is no longer necessary for the first stages of the prototyping cycle. The SiVIC-RTMaps simulation platform also enables to build reference scenarios and allows the evaluation and tests of the control/command and perception algorithms developed in our researches. In fact, the SiVIC-RTMaps platform constitutes a full simulation environment because it provides the same types of interactivity as found on the real vehicles: wheel angle, acceleration, braking, etc. In order to anticipate the developments of future driving assistance systems, this platform allows testing new types of sensors such as multi-plane laser scanner or cooperative Vehicle to Vehicle and Vehicle to Infrastructure (V2V and V2I sensors). In this paper, we present the capabilities of this platform for the fast and easy prototyping, test and evaluation of Advanced Driving Assistance Systems (Detection and tracking of pedestrian and car) and Partially Autonomous Driving Assistance Systems (ACC, Stop&Go).
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