A Sensitivity Analysis Approach for Evaluating a Radar Simulation for Virtual Testing of Autonomous Driving Functions

TL;DR

This paper presents a sensitivity analysis method to evaluate and improve radar simulation models used in virtual testing of autonomous driving functions, aiming for more realistic and efficient sensor modeling.

Contribution

It introduces a modular radar simulation framework combined with a sensitivity analysis approach to identify key parameters affecting model accuracy.

Findings

Sensitivity analysis reveals influential radar model parameters.

The modular approach helps trace simulation results to specific sub-modules.

The method improves understanding of radar model behavior in virtual testing.

Abstract

Simulation-based testing is a promising approach to significantly reduce the validation effort of automated driving functions. Realistic models of environment perception sensors such as camera, radar and lidar play a key role in this testing strategy. A generally accepted method to validate these sensor models does not yet exist. Particularly radar has traditionally been one of the most difficult sensors to model. Although promising as an alternative to real test drives, virtual tests are time-consuming due to the fact that they simulate the entire radar system in detail, using computation-intensive simulation techniques to approximate the propagation of electromagnetic waves. In this paper, we introduce a sensitivity analysis approach for developing and evaluating a radar simulation, with the objective to identify the parameters with the greatest impact regarding the system under test. A modular radar system simulation is presented and parameterized to conduct a sensitivity analysis in order to evaluate a spatial clustering algorithm as the system under test, while comparing the output from the radar model to real driving measurements to ensure a realistic model behavior. The presented approach is evaluated and it is demonstrated that with this approach results from different situations can be traced back to the contribution of the individual sub-modules of the radar simulation.