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Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being actively developed to prevent traffic accidents. As the complexity of AD/ADAS increases, the number of test scenarios increases as well. An efficient development process that meets AD/ADAS quality and performance specifications is thus required. The European New Car Assessment Programme (Euro NCAP®1) and the Japan Automobile Manufacturers Association (JAMA®2) have both defined test scenarios, but some of these scenarios are difficult to carry out with real-vehicle testing due to the risk of harm to human participants. Due to the challenge of covering various scenarios and situations with only real-vehicle testing, we utilize simulation-based testing in this work. Specifically, we construct a Model-in-the-Loop Simulation (MILS) environment for virtual testing of AD/ADAS control logic.

This paper presents the “Virtual Failure Mode and Effects Analysis (vFMEA)” system, which is a high-fidelity electrical-failure-simulation platform, and applies it to the software verification of an electric power steering (EPS) system. The vFMEA system enables engineers to dynamically inject a drift fault into a circuit model of the electronic control unit (ECU) of an EPS system, to analyze system-level failure effects, and to verify software-implemented safety mechanisms, which consequently reduces both cost and time of development. The vFMEA system can verify test cases that cannot be verified using an actual ECU and can improve test coverage as well. It consists of a cycle-accurate microcontroller model with mass-production software implemented in binary format, analog and digital circuit models, mechanical models, and a state-triggered fault-injection mechanism.