Simulation Driven Development Process Utilizing Carla Simulator for Autonomous Vehicles

Minseok Won, Shiho Kim

Abstract: We present a new approach to design the system of autonomous vehicles based on practical test scenarios in simulation. As the level of driving automation functions advances, various events and problems have occurred in many unexpected or unseen situations, so the design of autonomous driving systems is required to be more robust and sufficiently practical. We propose a Simulation Driven Development Process (SDDP) based on practical test scenarios in a simulation environment. We described the Euro NCAP test scenarios and harsh conditions using the ASAM OpenSCENARIO format and implemented them using the Carla simulator. We can verify how realistic and functional the system requirements are through the simulation results. It is also possible to derive numerical values optimized for Advanced Driver Assistance System (ADAS) function safety from the simulation results, and we can get the requirements robust and improve ADAS performance by applying them to V-model. We created the Euro NCAP