Correlation of Software-in-the-Loop Simulation with Physical Testing for Autonomous Driving

TL;DR

This paper validates an in-house SIL simulation toolchain for autonomous vehicles by correlating simulation results with physical test data through a synchronization approach and specific evaluation metrics.

Contribution

It introduces a novel validation process that aligns SIL simulations with real vehicle tests using scenario refinement and correlation metrics.

Findings

Preliminary results show good correlation between SIL simulation and physical testing.

The synchronization approach improves the accuracy of simulation validation.

Metrics effectively evaluate the correlation between simulation and real-world data.

Abstract

Software-in-the-loop (SIL) simulation is a widely used method for the rapid development and testing of autonomous vehicles because of its flexibility and efficiency. This paper presents a case study on the validation of an in-house developed SIL simulation toolchain. The presented validation process involves the design and execution of a set of representative scenarios on the test track. To align the test track runs with the SIL simulations, a synchronization approach is proposed, which includes refining the scenarios by fine-tuning the parameters based on data obtained from vehicle testing. The paper also discusses two metrics used for evaluating the correlation between the SIL simulations and the vehicle testing logs. Preliminary results are presented to demonstrate the effectiveness of the proposed validation process