Free driving systems for automated driving tests

Indoor positioning system

Due to the lack of GNSS signals on the C-ISAFE indoor test area, positioning is carried out using an indoor positioning system. It accurately captures the position data of dynamic objects, such as test vehicles and targets, and forms the basis for controlled tests. In combination with an inertial measurement unit (IMU), important parameters such as speeds, direction of travel (heading), and other movement variables can also be accurately measured during dynamic tests and used as reference and control variables. The accuracy of the combined system is in the centimeter range.
The system can thus be used as a reference for the validation and testing of sensor systems. In addition, it enables position-controlled movement of the driving robots and motion platforms available in the hall, facilitating reproducible driving tests. If required, the data can also be integrated into external vehicle systems, for example via CAN or Ethernet.
Another possible application is the testing of transition scenarios from GNSS-supported outdoor operation to GNSS-denied environments such as tunnels or parking garages. The system can be used to test and validate both the failure of the GNSS signal and the seamless switchover to the indoor positioning system.

Driving robot

A driving robot is available to perform automated and reproducible driving maneuvers, which can control the longitudinal and lateral dynamics of the vehicle. Mechanical actuators are used to operate both the steering and the pedals. The planned trajectories can be executed position-controlled. The system was designed so that it can be used in a wide range of vehicles without major adjustments.

Platform robot

The mobile robots are flat, overridable motion platforms that are typically used in tests of advanced driver assistance systems (ADAS). Various dummies, such as pedestrian or vehicle dummies, can be placed on them. Thanks to their vehicle-like movements and programmable trajectories, traffic scenarios such as intersection maneuvers or lane changes can be simulated realistically. Both a large and a small platform are available for this purpose. Further information on the dummies can be found here.