Developing occupancy grid with automotive simulation environment

Abstract

This study presents the process employed in prototyping and early evaluation of automotive perception algorithms. The data generation was performed using an automotive virtual validation tool. The off-the-shelf simulation framework used was expanded to include phenomenological sensors model that allowed for a simplified simulation of radars, lidars, and cameras. This paper extends the description of the methods for the generation of control algorithms. The work presented also includes a description of relevant data fusion methods for building occupancy grids. Results were obtained by performing a comparison of algorithm results against ground-truth. This virtual validation was used to enable early definition and verification of system-level requirements, narrow down performance assessment methods, and identify performance limitations before data from real sensors are available.