Virtual testing using simulation will play a significant role in future safety validation procedures for automated driving systems, as it provides the needed scalability for executing a scenario-based assessment approach. This article combines multiple essential aspects that are necessary for the virtual validation of such systems. First, a general framework that contains the vital subsystems needed for virtual validation is introduced. Secondly, the interfaces between the subsystems are explored. Additionally, the concept of model fidelities is presented and extended towards all relevant subsystems. For an automated lane-keeping system with two different definitions of an operational design domain, all relevant subsystems are defined and integrated into an overall simulation framework. The resulting difference between both operational design domains is the occurrence of lateral manoeuvres, leading to greater demands of the fidelity of the vehicle dynamics model. The simulation results support the initial assumption that by extending the operation domain, the requirements for all subsystems are subject to adaption. As an essential aspect of harmonising virtual validation frameworks, the article identifies four separate layers and their corresponding parameters. In particular, the tool-specific co-simulation capability layer is critical, as it enables model exchange through consistently defined interfaces and reduces the integration effort. The introduction of this layered architecture for virtual validation frameworks enables further cross-domain collaboration.
ODD description methods for automated driving vehicle and verifiability for safety
