TY - GEN
T1 - Validation method of a self-driving architecture for unexpected pedestrian scenario in CARLA simulator
AU - Gutierrez, Rodrigo
AU - Arango, J. Felipe
AU - Gomez-Huelamo, Carlos
AU - Bergasa, Luis M.
AU - Barea, Rafael
AU - Araluce, Javier
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/11
Y1 - 2021/7/11
N2 - This paper introduces a method to validate autonomous navigation frameworks, in simulation using CARLA Simulator, fulfilling the requirements of the Euro-NCAP evaluation. We propose the protocol for evaluating an unexpected pedestrian scenario, where a walker suddenly invades the road and the vehicle has to react in a safe way. Standard validation metrics are created for this use case, which are generalizables for other use cases. To support the proposal, we describe our ROS (Robot Operating System) based Self-Driving architecture, open source and implemented in an electric vehicle. Then, we explain the procedures and requirements needed for the validation protocol that we propose. Finally, we show the metrics and results obtained in simulation for different ego-vehicle velocities and weather conditions. The scenarios implemented in Carla are publicly available22https://github.com/RobeSafe-UAH/scenarios.
AB - This paper introduces a method to validate autonomous navigation frameworks, in simulation using CARLA Simulator, fulfilling the requirements of the Euro-NCAP evaluation. We propose the protocol for evaluating an unexpected pedestrian scenario, where a walker suddenly invades the road and the vehicle has to react in a safe way. Standard validation metrics are created for this use case, which are generalizables for other use cases. To support the proposal, we describe our ROS (Robot Operating System) based Self-Driving architecture, open source and implemented in an electric vehicle. Then, we explain the procedures and requirements needed for the validation protocol that we propose. Finally, we show the metrics and results obtained in simulation for different ego-vehicle velocities and weather conditions. The scenarios implemented in Carla are publicly available22https://github.com/RobeSafe-UAH/scenarios.
UR - https://www.scopus.com/pages/publications/85118826325
U2 - 10.1109/IV48863.2021.9575884
DO - 10.1109/IV48863.2021.9575884
M3 - Conference contribution
AN - SCOPUS:85118826325
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 1144
EP - 1149
BT - 32nd IEEE Intelligent Vehicles Symposium, IV 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd IEEE Intelligent Vehicles Symposium, IV 2021
Y2 - 11 July 2021 through 17 July 2021
ER -