United States Department of Transportation
i
Review of Simulation Frameworks and Standards Related to Driving Scenarios
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2019-12-01
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[PDF-993.67 KB]
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Abstract:This paper presents the results of a review of simulation frameworks and standards that could be instrumental to testing and assessment of vehicles with SAE International driving automation Level 4 and 5 automated driving systems (ADSs). A simulation framework or standard describes the object level scenario data (the positions, orientations, and velocities of all the objects in the scene) along with roadway information such that the ADS can be tested in a simulation environment. This open framework could serve as an interface for reading and writing scenario data, allowing for development of a sharable scenario database. Such a database could aid companies, researchers, and developers in the development of ADS and in safely evaluating system performance in simulation. This literature review study showed no existing framework has been widely adopted among ADS stakeholders, though some are more broadly compatible across available simulation software platforms. Of the standards identified, the OpenX (OpenCRG, OpenDRIVE, and OpenSCENARIO) and RoadXML, which are standard formatted files that define roadways, road networks, and scenarios, appear to be the most widely supported by available simulation applications. However, these standards are still being developed to include elements of test scenarios that maybe needed to assess ADS performance in a simulated environment.
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