World-in-the-Loop Simulation for Autonomous Systems Validation
World-in-the-Loop Simulation for Autonomous Systems Validation
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DOI：
10.1109/icra48506.2021.9561240
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发表时间：
2021-05
期刊：
影响因子：
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通讯作者：
Carl Hildebrandt;Sebastian G. Elbaum
中科院分区：
文献类型：
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作者：
Carl Hildebrandt;Sebastian G. Elbaum
模拟是验证自主系统（AS）的核心，以较低的成本和开发生命周期的早期实现故障的检测。但是，模拟只能产生现实世界的近似，从而导致模拟与现实之间的差距，在这种情况下，不希望的系统行为可能不会被忽略。为了解决这一差距，我们提出了一种新颖的方法，即世界中的模拟（WIL）模拟，该方法将模拟和现实世界中的传感数据整合在一起，以提供AS的混合真实性。该方法在现实世界中执行多个实例，其中一个在现实世界中，至少一个在模拟中，执行可配置的转换，过滤和合并感应数据正文的操作，以集成它，并提供分发管道来分发。原始传感器数据和集成传感器数据回到执行AS。我们介绍了一项关于多种情况和两个模拟器的研究，这些研究表明WIL如何减少模拟现实差距，并增加在部署前暴露故障的机会。
Simulation is at the core of validating autonomous systems (AS), enabling the detection of faults at a lower cost and earlier in the development life cycle. However, simulation can only produce an approximation of the real world, leading to a gap between simulation and reality where undesirable system behaviors can go unnoticed. To address that gap, we present a novel approach, world-in-the-loop (WIL) simulation, which integrates sensing data from simulation and the real world to provide the AS with a mixed-reality. The approach executes multiple instances of the AS in parallel, one in the real world and at least one in simulation, performs configurable transformations, filtering, and merging operations on the body of sensed data in order to integrate it, and provides the pipelines to distribute the original sensor data and the integrated sensor data back to the executing AS. We present a study on multiple scenarios and two simulators that demonstrates how WIL reduces the simulation-reality gap and increases the chances of exposing failures before deployment.