Czech Technical University in Prague Faculty of Mechanical Engineering Department of Automotive, Combustion Engine and Railway Engineering Study program: Master of Automotive Engineering Field of study: Advanced Powertrains Simulation of AEB system testing DIPLOMA THESIS Author: Bc. Patrik Zíta Supervisor: Ing. Václav Jirovský, Ph.D. Year: 2017 Před svázáním místo téhle stránky vložíte zadání práce s podpisem děkana. Disclaimer I hereby declare that this thesis is my own work and that, to the best of my knowledge and belief, it contains no material which has been accepted or submitted for the award of any other degree or diploma. I also declare that all the software used to solve this thesis is legal. I also declare that, to the best of my knowledge and belief, this thesis contains no material previously published or written by any other person except where due reference is made in the text of the thesis. ........................... ........................................ date Bc. Patrik Zíta Acknowledgment I would like to thank my supervisor Ing. Václav Jirovský, Ph.D. for his guidance and support throughout this thesis. I would like also to thank TÜV SÜD Czech s.r.o. for support and experience which I got during five months’ internship. Lastly, I would like to thank my whole family for their support and help during a difficult period of last months. Bc. Patrik Zíta Title: Simulation of AEB system testing Author: Bc. Patrik Zíta Study program: Master of Automotive Engineering Field of study: Advanced Powertrains Assignment: Diploma Thesis Supervisor: Ing. Václav Jirovský, Ph.D. Department of Automotive, Combustion Engine and Railway Engineering, Faculty of Mechanical Engineering, Czech Technical University in Prague Abstract: This master thesis describes a simulation tool which was created to analyze ADAS functions and vehicle dynamics. The tool was created in CarMaker and Microsoft Excel. The software can be used as SIL testing to analyze sensor output data before proving ground test. Key words: CarMaker, ADAS, autonomous vehicle, AEB, simulation, testing Contents List of Figures ........................................................................................ 9 Abbreviations ...................................................................................... 11 Introduction ........................................................................................ 12 1. Advanced Driver Assistance Systems ............................................... 13 1.1. General description .........................................................................................13 1.2. Systems and its principles ..............................................................................14 1.2.1. Adaptive Cruise Control .......................................................................14 1.2.2. Automatic Emergency Brake ..............................................................15 1.2.3. Blind Spot Detection System (BSD) ....................................................16 1.2.4. Emergency Brake Assist ......................................................................17 1.2.5. Lane Departure Warning, Lane Keeping Assistant ..........................18 1.2.6. Traffic Sign Recognition .......................................................................19 1.3. Vehicle sensors [6] ...........................................................................................21 1.3.1. RaDAR (Radio Detection and Ranging) ............................................21 1.3.2. LiDAR (Light Detection and Ranging) ..............................................23 1.3.3. Optical cameras ....................................................................................23 1.3.4. PMD (Photonic Mixer Device) sensors ..............................................24 1.3.5. Ultrasonic sensors ................................................................................24 1.3.6. Information evaluation ........................................................................25 1.4. Sensor physics modeling ................................................................................26 1.4.1. Sensor modeling complexity ...............................................................30 1.4.2. Advanced RaDAR sensor modeling ..................................................30 1.4.3. Modeling of a new generic virtual optical sensor for ADAS prototyping ...........................................................................................31 2. Software .......................................................................................... 32 3. Simulation of predefined driving scenarios ...................................... 38 3.1. Test track description ......................................................................................38 7 3.2. Maneuver description .....................................................................................40 3.3. Vehicle description ..........................................................................................41 3.4. Description of driving scenarios ....................................................................46 3.5. Parametrization of driving scenarios ............................................................51 3.6. Evaluation of driving scenarios .....................................................................59 3.7. GPS coordinates as results of simulations ...................................................72 4. Conclusion ...................................................................................... 73 4.1. Contributions ....................................................................................................73 4.2. Assignment .......................................................................................................73 4.3. Future work ......................................................................................................73 List of sources ..................................................................................... 74 CD content .......................................................................................... 77 8 List of Figures Figure 1.1 - Adaptive Cruise Control [17] ..................................................................................... 15 Figure 1.2 - AEB functionality [22] ................................................................................................. 16 Figure 1.3 - Blind spot detection [41][42] ....................................................................................... 17 Figure 1.4 - Sequence of used system for critical braking ........................................................... 17 Figure 1.5 - Citroën LDW system ................................................................................................... 18 Figure 1.6 - Lane Keeping Assistant ............................................................................................... 19 Figure 1.7 - Traffic sign recognition [2] .......................................................................................... 20 Figure 1.8 - Sensors in vehicles [7] .................................................................................................. 21 Figure 1.9 - RaDAR sensors application [23] ................................................................................ 22 Figure 1.10 - Type of RaDAR on vehicles [11] .............................................................................. 22 Figure 1.11 - LiDAR produced by Continental [12] ..................................................................... 23 Figure 1.12 - Stereo Camera [19] ..................................................................................................... 24 Figure 1.13 - Ultrasonic sensor for parking [20] ........................................................................... 25 Figure 1.14 - Overview of the sensing process [25] ...................................................................... 26 Figure 1.15 - AEB braking and graph representing acceleration and pitch [27] ...................... 29 Figure 1.16 - Sensors in CarMaker [26] .......................................................................................... 30 Figure 2.1 - CarMaker - virtual testing software [21] .................................................................. 32 Figure 2.2 - CarMaker ...................................................................................................................... 33 Figure 2.3 - CarMaker - car setup ................................................................................................... 34 Figure 2.4 - CarMaker - road setup ................................................................................................ 35 Figure 2.5 - Export of GNSS data from CarMaker to Microsoft Excel ...................................... 35 Figure 2.6 - dSpace - Automotive Simulation Models [33] ......................................................... 36 Figure 2.7 – CarSim [35] ................................................................................................................... 37 Figure 3.1 - CarMaker and GPS ...................................................................................................... 39 Figure 3.2 – Test track Hradčany u Mimoně in CarMaker ......................................................... 39 Figure 3.3 - Google Earth view from CarMaker ........................................................................... 40 Figure 3.4 - Maneuver dialog .........................................................................................................