Vehicle dynamics and actuators models of the EGO vehicle are a key element of the whole simulation closed-loop chain for simulation-based test and validation of autonomous driving. In this station, the vehicle dynamics and actuators models developed within SET Level are presented, as part of the open source model library, which will be provided and publicly available at the end of the project. Two main key features were defined as goal in the development of vehicle dynamics and actuators models in SET Level. On the one hand, these models are required with different levels of detail, depending on the specific system under test (SUT) and on the test specification. On the other hand, they need to be fully integrated in the whole simulation environment, thus requiring compliance to the simulation standards FMU and OSI.
The presentation of the models is firstly focused on the internal architecture of the system block “vehicle dynamics and actuators", followed by the overview of the developed models portfolio. Such models were developed in Matlab/Simulink (as often the case in the field of vehicle dynamics) and therefore required additional steps to be deployed as FMU including the standard OSI for communication with the other SET Level models of the simulation chain. The proposed methodology for the model deployment is presented in this station, representing a notable result of this work.
Finally, as in-depth topic, a concept of a validity range observer for models of the closed-loop simulation chain is proposed, focusing on vehicle dynamics and actuators models. Since models are available with different levels of detail and thus with different specific validity ranges, monitoring their validity during the simulation is required to ensure results fidelity and support the choice of the correct level of detail. By means of a simple test case, the feasibility of this concept is demonstrated.
