easy to install – covers testing up to SAE level 5 – easy to operate

iSWACO-ARGUS

Proving Ground Infrastructure

for Verification of Highly and Fully Automated Driving Vehicles

Efficient Testing of HAD Vehicles on Roads & in Virtual Public Traffic Environment

iSWACO-ARGUS is the answer to the challenge of verifying the safety relevant features of automated and

autonomous driving vehicles of all SAE levels, i.e. from level 0 “hands on” up to level 5 “optional wheel”, with a

single test infrastructure. iSWACO-ARGUS controls and monitors the motion behaviour of all vehicles on the

proving ground and gives the unmatched flexibility to generate and execute repeatable as well as individual tests

within real emulated traffic scenarios.

iSWACO-ARGUS is fast to implement on nearly arbitrary proving grounds. Thus, it is the testing solution for both,

OEMs and testing / certification organizations, installed on existing or new proving grounds, worldwide.

CAPABILITIES & FEATURES Flexible Architecture – easily applicable for existing & new proving grounds regarding infrastructure & topology.

Cost savings - capability to execute individual & fully repeatable test scenarios with minimum personnel effort.

Plug & Play due to modular setup with open interfaces (allows also integration of “non-iMAR” components).

No steering or driving robots required. Control of Traffic Simulation Vehicle’s (TSV) steering / throttle / braking via vehicle’s

internal actuators or control loops. Therefore iSWACO-ARGUS saves pretty much setting-up time, compared to competing

systems and allows a simple installation on arbitrary proving grounds.

The iSWACO-ARGUS package can include all you need on the proving ground for HAV verification, i.e.:

Localization hardware for up to 24+ moving objects, i.e. Traffic Simulation Vehicles (TSV), Soft Crash Targets (SCT), Vehicles under Test (VUT), based on INS/GNSS/ODO technology and cognitive vision, also operable in GNSS denied areas of a proving ground (allows also testing the VUT under real GNSS outage conditions).

Collision warning and avoidance system for each vehicle, based on INS/GNSS and optional machine vision.

GNSS RTK correction data acquisition and distribution to meet position accuracy on centimeter level.

Mobile or stationary control centre with software for trajectory planning and test execution, test visualization, data

storage and data analysis.

Vehicle guidance & control hardware and software (iVCTRL) including Vehicle Control Interface (iVCI).

Mobile secured multi vehicle iMAR Dynamic Communication Network (iDMN) with low latency.

The implementation covers the recommenda-

tions of the future ISO 22133-1 “Road Vehicles -

Test Object Monitoring and Control for Active

Safety and Automated/Autonomous Vehicle

Testing” standard.

iSWACO-ARGUS is being developed for one of

the largest German testing organizations, providing the future type approval for automated and autonomous Vehicles under Test up to SAE level 5.

iSWACO-ARGUS

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany

Phone: +49-(0)-6894-9657-0

Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH

www.imar-navigation.de Technical modifications reserved w/o notice

sales@imar-navigation.de Rev. 1.05 / 11.07.2017 ● DocNo. DOC170531001

Technical Data iSWACO-ARGUS - all data are RMS values, if not otherwise stated -

Localization Performance (on each vehicle): iTraceRT-MVT-500 & iTraceRT-MVT-200

Position Accuracy: << 10 cm [CEP] INS/GNSS/ODO

< 1.8 m [CEP] w/o GNSS corrections

Velocity Accuracy: 0.02 m/s INS/GNSS/ODO

< 0.1 % of distance travelled during GNSS outages

Roll / Pitch / Heading Accuracy: < 0.1° / 0.1° / 0.1° INS/GNSS/ODO

Gyro / accel Performance iTraceRT-MVT-500: * < 1 °/h & 1 mg day2day, < 0.1 °/h & 0.05 mg AV

Gyro / accel Performance iTraceRT-MVT-200: < 0.07 °/s & 6 mg day2day, < 0.5 °/h & 0.06 mg AV

Heading / Roll / Pitch Range: 0…360° / ±180° / ±90° (no limitations)

Angular Rate Range: ±400 °/s

Acceleration Range: ±5 g (others as option)

Data Output Rate / Bandwidth; data latency: 1…500 Hz / 200 Hz; < 2 ms latency, 1 ms jitter

Interfaces:

Serial Data: 3 x UART RS422 or RS232 (iXCOM, NMEA 0183)

Ethernet: 1 x TCP/IP or UDP (data and status via iXCOM/NMEA)

CAN Bus: ARINC825 or standard protocol (data, status)

GNSS correction data input: RTCM (from iREF-GNSS, iREF-LITE or via GSM)

GNSS (GPS/GLONASS/BEIDOU/GALILEO): Active GNSS antenna via TNC or SMA connector

Time Synchronization: PPS Output, PTP as option

Odometer input: RS422 level (A/B) quadrature signal or pulses fw./bw./dir.

Physical / Operating / Environmental Parameters:

Power Supply Voltage: 24 V DC (10…35 V DC)

Power Consumption: < 25 W (incl. integrated GNSS engine)

Dimensions: 187 x 128 x 196 mm (-500), 102 x 62 x 138 mm (-200)

Weight: < 5 kg (iTraceRT-MVT-500, < 900 grams (iTraceRT-MVT-200)

Operating / Storage Temperature; Humidity: -40…+65 °C / -45…+75 °C; 8…100 % rel.

Housing / Protection Category: fully sealed aluminum enclosure / IP 67

Accessories:

Included: - Graphical User Interface (Windows / Linux)

- Operator handbook (usage & maintenance)

- internal data logger (32 GByte), also for the vehicle’s diagnosis interface (CAN / ETH)

Optional: - several cable sets, GNSS and RF antenna fixtures, uninterrupted power supply on test vehicles etc.

airborne real-time video supervision of proving ground

Standards: future ISO 22133-1 (not yet approved by ISO – iMAR is member of the standardization working group) * The better the inertial sensor performance (bias, noise, scale factor accuracy, bandwidth etc.), the better the system performance can be kept also

during certain GNSS outages or in urban canyons (i.e. to achieve a lower standard deviation of the measurements). See dedicated datasheet for

details. The systems of family iTraceRT-MVT-500 and iTraceRT-MVT-200 are fully compatible by interfaces with our systems iNAT-FSSG, iNAT-FSLG, iNAT-M200 etc.

Typical test scenario, planned and executed with iSWACO-ARGUS:

Stereo vision based environment

perception for localization and

collision avoidance:

iSWACO-ARGUS

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany

Phone: +49-(0)-6894-9657-0

Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH

www.imar-navigation.de Technical modifications reserved w/o notice

sales@imar-navigation.de Rev. 1.05 / 11.07.2017 ● DocNo. DOC170531001

Infrastructure components (hardware and software) on proving ground – all provided by iMAR:

iMAR’s INS/GNSS localization system on each vehicle, i.e. iTraceRT-MVT-500 or iTraceRT-MVT-M200 or iNAT-FSLG or iNAT-M200

with optional vehicle control system (iVCTRL) and uninterrupted power supply. The iTraceRT-MVT series is specifically designed

for automated and autonomous driving with lowest data latencies. Optional cognitive

vision based stereo camera system for localization or mapping.

iMAR’s iREF-LITE and iREF-GNSS RTK correction data acquisition and distribution system.

Mobile proprietary iMAR Dynamic Mesh Network (iDMN) with optional encrypted Multi-Car-

to-Car and Car-to-ControlCenter communication. Minimum data latency, Fresnel zone

mitigation, fast reacquisition and self-configuration setup. Installation can include a 15 m

antenna mast or UAV based data distribution with integrated stabilized HD camera for

proving ground test scenario observation (supports fully automatic take-off, flying and

landing; uninterrupted operational time during 12 hrs as option available).

Operator Control Center with iARGUS-MVT software for test setup and trajectory planning, test execution, data sto-

rage, equipment supervision; optionally incl. visualization consoles for 2 operators, uninterrupted power supply,

communication.

Traffic Simulation Vehicles with integrated actuator interfaces, controlled via iMAR’s iSWACO-200 or iSWACO-500,

consisting of iTraceRT-MVT-M200 or iTraceRT-MVT-500, iVCTRL vehicle contrl and iDMN-V Dynamic Mesh

Communication Network. Examples: OEM vehicles, Audi A6, Kia Soul.

Soft Crash Target integration into the test setup: Targets from 4a systems, as 4activeFB, including integrated iNAT-

M200 for high precision localization, navigation and control, or others from DSD, ABD or DRI

OEM vehicle

(customized)

iSWACO-ARGUS

iMAR Navigation GmbH ● Im Reihersbruch 3 ● D-66386 St. Ingbert / Germany

Phone: +49-(0)-6894-9657-0

Fax: +49-(0)-6894-9657-22 © iMAR Navigation GmbH

www.imar-navigation.de Technical modifications reserved w/o notice

sales@imar-navigation.de Rev. 1.05 / 11.07.2017 ● DocNo. DOC170531001

Functional matrix for object operation during test preparation and execution on the proving ground:

The trajectories to be executed by all swarm vehicles (up to

24+ VUT, TSVs, SCTs) and the timing of the infrastructure

elements (when to change traffic lights, speed limit

information etc.) are generated by the integrated software

iARGUS-CMD or via datasets generated by OpenScenario,

CarMaker or similar tools (interfaces customized).

iMAR’s Trajectory Planning, Test Execution and Visualization Tool iARGUS-CMD:

Example: Lane change (3.75 m lateral) at 100 km/h with 0.5 g (!) lateral acceleration, driven in fully autonomous mode (factory

expanded) OEM vehicle (by iMAR’s iSWACO-M200 with iVCTRL incl. actuator interface) on proving ground at Zweibrücken.

iMAR Navigation is known for more than 25 years as the worldwide expert for most reliable localization, navigation,

surveying and control solutions in automotive testing & verification, avionics, defence and industrial applications.

For details, consulutance or support, please feel free to contact our sales or engineering department.