HIL simulation of obstacles for the testing of parking assist systems

OData support
Dr. Kiss Bálint
Department of Control Engineering and Information Technology


Park assist systems are nowadays the part of the equipment of the modern vehicle. These systems are usually based on ultrasonic sensors. One of the main producers of ultrasonic sensors and the systems based on it is Robert Bosch GmbH. My thesis project was written in the ultrasonic system software test team (CC-DA/EAU2-Bp) of the company.

The ultrasonic sensors provide raw distance values which are filtered and pre-processed. Based on the results the current position of obstacles related to the vehicle is definable. This information provides the input for numerous ultrasonic based functions.

The moving of the obstacles is not resoluble in the case of bench tests without the expensive solution of an external supply company. Only a limited number of the external tools is available for test engineers, which means a finite time for test running. My goal is to eliminate this disadvantage by developing the Obstacle Simulator.

During my workflow I got knowledge of the automotive software development process, the concept of HIL testing, the elements of the used test environment including the former version of the Obstacle Simulator. To achieve extensive usability and accuracy several development directions were marked out.

I implemented an obstacle moving method in C# considering the vehicle speed and the steering wheel angle based on the Ackermann steering geometry. It makes braking tests and parking “on the desktop” possible.

I examined the Field of View approximation and masked it based on real measurement results in order to increase the detection accuracy.

Between the Obstacle Simulator and CANoe the COM interface provides the connection. I examined the limits of the interface in order to optimize its utilization. Besides that I reviewed the declared CANoe environment variables related to the Obstacle Simulator. I modified the Obstacle Simulators database in CANoe and the connection of environment variables to their C# pair.


Please sign in to download the files of this thesis.