Simulation Environment for Validation of Automated Lane-Keeping System

Abstract

Automated Driving Systems (ADS) need to be validated in a wide range of conditions to ensure the safety of their operation. It is impossible to validate everything in a real environment, and simulation is the only viable alternative to cover testing under all needed conditions. We present the architecture of a simulation environment based on the CARLA simulator, aimed at validating the Automated Lane-Keeping System (ALKS), the first ADS with available legislation for its approval. We propose to simplify the development and deployment of such a complex software simulation environment through the use of the Nix package manager. We also propose how the example scenarios distributed with CARLA can be extended to make them suitable for validation of ALKS.