Related papers: vEDGAR -- Can CARLA Do HiL?
With increasing complexity of Automated Driving Systems (ADS), ensuring their safety and reliability has become a critical challenge. The Verification and Validation (V&V) of these systems are particularly demanding when AI components are…
There has been increasing interest in characterising the error behaviour of systems which contain deep learning models before deploying them into any safety-critical scenario. However, characterising such behaviour usually requires…
This paper presents TrolleyMod v1.0, an open-source platform based on the CARLA simulator for the collection of ethical decision-making data for autonomous vehicles. This platform is designed to facilitate experiments aiming to observe and…
Automotive software testing continues to rely largely upon expensive field tests to ensure quality because alternatives like simulation-based testing are relatively immature. As a step towards lowering reliance on field tests, we present…
Future mobility systems and their components are increasingly defined by their software. The complexity of these cooperative intelligent transport systems (C-ITS) and the everchanging requirements posed at the software require continual…
This work introduces interactive traffic scenarios in the CARLA simulator, which are based on real-world traffic. We concentrate on tactical tasks lasting several seconds, which are especially challenging for current control methods. The…
The effects of traffic congestion are widespread and are an impedance to everyday life. Piecewise constant driving policies have shown promise in helping mitigate traffic congestion in simulation environments. However, no works currently…
Human-driven vehicles (HVs) exhibit complex and diverse behaviors. Accurately modeling such behavior is crucial for validating Robot Vehicles (RVs) in simulation and realizing the potential of mixed traffic control. However, existing…
Simulators are useful tools for testing automated driving controllers. Vehicle-in-the-loop (ViL) tests and digital twins (DTs) are widely used simulation technologies to facilitate the smooth deployment of controllers to physical vehicles.…
Increasing the implemented SAE level of autonomy in road vehicles requires extensive simulations and verifications in a realistic simulation environment before proving ground and public road testing. The level of detail in the simulation…
Simulation is an indispensable tool in the development and testing of autonomous vehicles (AVs), offering an efficient and safe alternative to road testing. An outstanding challenge with simulation-based testing is the generation of…
The kind of closed-loop verification likely to be required for autonomous vehicle (AV) safety testing is beyond the reach of traditional test methodologies and discrete verification. Validation puts the autonomous vehicle system to the test…
The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…
Although Cooperative Driving Automation (CDA) has attracted considerable attention in recent years, there remain numerous open challenges in this field. The gap between existing simulation platforms that mainly concentrate on single-vehicle…
Game engines are increasingly used as simulation platforms by the autonomous vehicle (AV) community to develop vehicle control systems and test environments. A key requirement for simulation-based development and verification is…
The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers,…
Testing of function safety and Safety Of The Intended Functionality (SOTIF) is important for autonomous vehicles (AVs). It is hard to test the AV's hazard response in the real world because it would involve hazards to passengers and other…
Scenario-based testing using simulations is a cornerstone of Autonomous Vehicles (AVs) software validation. So far, developers needed to choose between low-fidelity 2D simulators to explore the scenario space efficiently, and high-fidelity…
Even as technology and performance gains are made in the sphere of automated driving, safety concerns remain. Vehicle simulation has long been seen as a tool to overcome the cost associated with a massive amount of on-road testing for…
Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern…