Development of Full Speed Range ACC with SiVIC, a virtual platform for ADAS Prototyping, Test and Evaluation

LIVIC-IFSTTAR develops driving assistance services in order to improve the driving safety. These systems are tested on several real prototypes equipped with sensors and perception, decision and control modules. But tests on real prototypes are not always available, effectively some hardware architectures could be too expensive to implement, scenario may lead to hazardous situations. Moreover, lots of reasons could lead to the inability to obtain both sensors and ground truth data for ADAS evaluation. However, safety applications must be tested in order to guaranty their reliability. For this task, simulation appears as a good alternative to the real prototyping and testing stages. In this context, the simulation must provide the same opportunities as reality, by providing all the necessary data to develop and to prototype different types of ADAS based on local or extended environment perception. The sensor data provided by simulation must be as noised and imperfect as those obtained with real sensors. To address this issue, the SiVIC platform has been developed; it provides a virtual road environment including realistic dynamic models of mobile entities (vehicles), realistic sensors, and sensors for ground truth. To test real embedded applications, an interconnection has been developed between SiVIC and third party applications (ie. RTMaps). In this way, the prototyped application can be directly embedded in real prototypes in order to test it in real conditions. A Full Speed Range ACC application is presented in this paper to illustrate the capabilities and the functionalities of this virtual platform.