Simulacijsko okolje za testiranje sistema avtonomne vožnje

BALAŽIC, MARKO (author), Sodnik, Jaka (mentor)

Cilj magistrskega dela je razvoj sistema za testiranje avtonomne vožnje v simulacijskem okolju. Za ta namen smo izbrali programsko orodje SCANeR DT, ki omogoča izdelavo različnih scenarijev in kritičnih situacij, vsebuje pa tudi implementacije senzorjev, ki predstavljajo pomemben del avtonomne vožnje. Te senzorje smo podrobneje predstavili in jih primerjali z realnimi. Poleg tega smo razvili dodatne module, ki so potrebni za delovanje avtonomnega vozila ter algoritma, ki omogočata prepoznavo objektov iz slike kamere. Naše avtonomno vozilo smo testirali tako, da smo ga pustili voziti po vnaprej določeni trasi, na kateri se zgodijo kritične situacije. Rezultate smo primerjali z rezultati, ki smo jih pridobili iz podatkov o vožnjah voznikov. Le-ti so pokazali, da je avtonomno vozilo doseglo boljše rezultate, kar pomeni, da se je bolje odzvalo na kritične situacije kot vozniki.

• Language: Slovenian
• Keywords: simulacija, avtonomna vozila, avtonomna vožnja, okolje za testiranje, sistem avtonomne vožnje, senzorji
• Work type: Master's thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2018
• PID: 20.500.12556/RUL-104077
• Publication date in RUL: 04.10.2018

BALAŽIC, MARKO, 2018, Simulacijsko okolje za testiranje sistema avtonomne vožnje [online]. Master’s thesis. [Accessed 20 July 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=104077

Secondary language

• Language: English
• Title: Simulation environment for autonomous driving testing

Abstract

The purpose of this dissertation is the development of a system for autonomous driving testing in a simulation environment. We selected the software tool SCANeR DT, which enables the generation of different scenarios and critical situations and also includes the implementation of sensors, which are an essential part of autonomous driving. We described these sensors in detail and also compared them to the simulated ones inside the simulation environment. Additionally we developed customized modules, which are necessary for the autonomous vehicle to function and also two algorithms for the testing image processing of images from the camera. We tested our autonomous vehicle on a predefined route which consisted of multiple critical situations. We compared the results from our autonomous vehicle with results from human drivers, which drove on the same route. The results show us that our autonomous vehicle got better scores, which means that it performed better in critical situation than human drivers.

• Keywords: simulation, autonomous vehicles, autonomous driving, testing environment, autonomous vehicle system, sensors