In terms of simulation verification, the vehicle model is integrated with the six degree of freedom motion platform, and an objective evaluation method for the ride comfort of self-driving cars was established referring to ISO 2631, including maneuvers such as acceleration, steering, braking operation. As a result, the feel of passengers when taking the autonomous vehicle can be evaluated in the laboratory first. Besides, the traffic flow of selected self-driving route can be conducted in simulated environment (Prescan+Vissim) after investigating real intersection traffic flow, travel rate, and roadside parking situation. Therefore, the co-simulation of decision-making control algorithm and traffic condition can be carried out. In terms of actual vehicle verification, the first version of the basic functional test procedures for self-driving cars has been merged with the low-speed self-driving standard ISO 22737 released in 2021 and common scenarios in Taiwan such as opening the door when parking on the roadside, stray animals rushing out, neighboring cars cutting into lanes at a relatively close distance. WinBus has been chosen to conduct tests according to the procedures. Based on the test results, the parameters to be measured and assessment criteria have been modified. The revision of the basic functional test procedures has been completed including 15 basic functions and 58 scenarios, which can be used for self-driving cars verification on the test tracks.

1.Scenario and sensor model (Prescan), Vehicle dynamics model (Carsim), Traffic model (Vissim)
2.Real-time simulating platform, Six degree of freedom motion platform
3.Steering, Brake, and Accelerating control devices
4.RTK DGPS, Vehicle performance measuring devices

This technique can be applied in V&V of passenger or commercial vehicles for advanced driver assistance system and autonomous driving system.

More and more manufactures start to develop ADAS and ADS, but most of them lack of a comprehensive environment to verify the control algorithm. The establishment can assist system suppliers to verify system functions for problem shooting and algorithm improving. Not only can the competitiveness be strengthened, but also the development cycle and testing risk could be reduced.