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Persival GmbH

Persival GmbH

Tool Vendor / Service Provider

Persival offers software and services for tailored and credible perception sensor model development. The offering is a comprehensive and modular solution catalogue. It starts with automated test benches for real sensor performance including weather influence and includes material measurements for capturing the angular-dependent reflectivity for sensor simulation. The primary focus is to ensure credible sensor simulation by validating all synthetic sensor data against real sensor performance. The relevant effects are derived to match the specific Operational Design Domain (ODD) of the real sensors to simulate. The supporting services include seamless sensor model integration using e.g. standards like ASAM Open Simulation Interface (OSI) and OpenMATERIAL 3D while the models can be packaged as Functional Mock-up Units (FMU) for easy deployment in any co-simulation environment.

ASAM related products

Custom Perception Sensor Model Development

Type

Software as a Service

Functionalities

Persival offers tailored perception sensor model development designed to match the specific Operational Design Domain (ODD) of your real-world sensors and functions. Our process begins with clear requirements and acceptance tests, ensuring alignment with your goals. The primary focus is on validating synthetic sensor data for accuracy and reliability. We integrate sensor models seamlessly using the ASAM Open Simulation Interface (OSI) and provide them packaged as Functional Mock-up Units (FMU) for easy deployment in your simulation environments.

Supported ASAM Standards

ASAM OpenCRG® , ASAM OpenDRIVE® , ASAM OpenMATERIAL® 3D , ASAM OpenSCENARIO® , ASAM OpenSCENARIO® XML , ASAM OSI®

Persival Simspector

Type

3D Asset and Sensor Data Analysis

Functionalities

Persival Simspector is designed to streamline perception sensor modeling by offering advanced visualization and debugging capabilities. Whether you’re working with synthetic data or real-world inputs, Simspector provides an intuitive platform to inspect 3D assets in detail. With support for OpenMATERIAL, Simspector enables you to view asset geometry, partitioning, mesh levels of detail, and material assignments—all in one place. Overlay perception sensor data onto static and dynamic 3D objects, enhancing your understanding of how sensors interact with the environment. Seamlessly integrate Simspector into your existing simulation via ASAM OSI over TCP/IP, and enjoy compatibility with both SensorView and SensorData. Elevate your sensor modeling workflow with Persival Simspector.

Supported ASAM Standards

ASAM OpenDRIVE® , ASAM OpenMATERIAL® 3D , ASAM OpenSCENARIO® , ASAM OpenSCENARIO® XML , ASAM OSI®

Persival Avelon

Type

Perception Sensor Model Validation

Functionalities

Persival Avelon is a software tool for automated evaluation of perception sensor data. It enables a structured validation process by comparing real and synthetic sensor data within a model validation campaign. Users can define multiple tests using a flexible combination of filters, metrics, and acceptance criteria - like assembling a construction kit. This approach allows for tailored assessments of specific effects in the data, ensuring a transparent and human-understandable validation process. The final output is a comprehensive report containing the results and conclusions from all tests, and samples within the campaign. This report provides insights into the overall simulation model performance based on the data to be compared.

Supported ASAM Standards

ASAM OpenDRIVE® , ASAM OpenMATERIAL® 3D , ASAM OpenSCENARIO® , ASAM OpenSCENARIO® XML , ASAM OSI®

Perception Sensor Performance Measurements

Type

Specific Measurements and Data Analysis

Functionalities

We provide comprehensive measurement setups and execution, incorporating reference sensors enabling sample-wise validation of synthetic sensor data against real-world data: https://www.persival.de/performance-measurements Special focus is given to environmental factors, with our weather test bench equipped with precision reference sensors measuring parameters like visibility, brightness, precipitation drop size and speed, temperature, wind speed, and direction. Our test bench supports year-round measurements in a variety of real-world conditions, and can accommodate multiple LiDAR and radar sensors. We conduct these measurements according to the DIN SAE Spec 91471 standard and compare them with simulation results to validate sensor models. Currently, we are working on semi-automated test benches to further streamline this process.

Supported ASAM Standards

ASAM OpenCRG® , ASAM OpenDRIVE® , ASAM OpenLABEL® , ASAM OpenMATERIAL® 3D , ASAM OpenODD® , ASAM OpenSCENARIO® , ASAM OpenSCENARIO® XML , ASAM OSI® , ASAM OpenTestSpecification

Specification of Perception Sensor Simulation

Type

Requirements Engineering

Functionalities

Persival's approach to requirements engineering for perception sensors is rooted in cutting-edge methodologies and tools. We utilize the Perception Sensor Collaborative Effect and Cause Tree (PerCollECT), an open-source framework designed to systematically analyze cause-effect relationships in sensor performance (https://github.com/PerCollECT). For safety and validation, we integrate SOTIF Trigger Conditions with Cause, Effect, and Phenomenon Relevance Analysis (CEPRA), providing a comprehensive understanding of sensor behavior in critical scenarios (https://tuprints.ulb.tu-darmstadt.de/18949/). Additionally, we apply robust metrics for model acceptance tests, ensuring that our sensor models meet rigorous standards for accuracy and reliability (https://tuprints.ulb.tu-darmstadt.de/23034/).

Supported ASAM Standards

ASAM OpenCRG® , ASAM OpenDRIVE® , ASAM OpenLABEL® , ASAM OpenMATERIAL® 3D , ASAM OpenODD® , ASAM OpenSCENARIO® , ASAM OpenSCENARIO® XML , ASAM OSI® , ASAM OpenTestSpecification

Material Measurements

Type

Specific Measurements

Functionalities

We provide bidirectional reflectance measurements for lidar simulation and validation. Our reflectivity measurement device (RMD) covers wavelengths between 905 nm and 1550 nm. The individual sender and receiver arms are controlled individually to freely configure incident and exit angles. The portable size of the RMD allows for measurements of samples in out lab or on-site ground measurements. On-site measurements for example facilitate the generation of digital twins of proving grounds.

Supported ASAM Standards

ASAM OpenMATERIAL® 3D