Simulation Framework for Cooperative Adaptive Cruise Control with Empirical DSRC Module

Wireless communication plays a vital role in the promising performance of connected and automated vehicle (CAV) technology. This paper proposes a Vissim-based microscopic traffic simulation framework with an analytical dedicated short-range communication (DSRC) module for packet reception. Being derived from ns-2, a packet-level network simulator, the DSRC probability module takes into account the imperfect wireless communication that occurs in real-world deployment. Four managed lane deployment strategies are evaluated using the proposed framework. While the average packet reception rate is above 93\% among all tested scenarios, the results reveal that the reliability of the vehicle-to-vehicle (V2V) communication can be influenced by the deployment strategies. Additionally, the proposed framework exhibits desirable scalability for traffic simulation and it is able to evaluate transportation-network-level deployment strategies in the near future for CAV technologies.Comment: 6 pages, 6 figure, 44th Annual Conference of the IEEE Industrial Electronics Societ

Behavior Trees in Robotics and AI: An Introduction

A Behavior Tree (BT) is a way to structure the switching between different tasks in an autonomous agent, such as a robot or a virtual entity in a computer game. BTs are a very efficient way of creating complex systems that are both modular and reactive. These properties are crucial in many applications, which has led to the spread of BT from computer game programming to many branches of AI and Robotics. In this book, we will first give an introduction to BTs, then we describe how BTs relate to, and in many cases generalize, earlier switching structures. These ideas are then used as a foundation for a set of efficient and easy to use design principles. Properties such as safety, robustness, and efficiency are important for an autonomous system, and we describe a set of tools for formally analyzing these using a state space description of BTs. With the new analysis tools, we can formalize the descriptions of how BTs generalize earlier approaches. We also show the use of BTs in automated planning and machine learning. Finally, we describe an extended set of tools to capture the behavior of Stochastic BTs, where the outcomes of actions are described by probabilities. These tools enable the computation of both success probabilities and time to completion

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

Design and validation of decision and control systems in automated driving

xxvi, 148 p.En la última década ha surgido una tendencia creciente hacia la automatización de los vehículos, generando un cambio significativo en la movilidad, que afectará profundamente el modo de vida de las personas, la logística de mercancías y otros sectores dependientes del transporte. En el desarrollo de la conducción automatizada en entornos estructurados, la seguridad y el confort, como parte de las nuevas funcionalidades de la conducción, aún no se describen de forma estandarizada. Dado que los métodos de prueba utilizan cada vez más las técnicas de simulación, los desarrollos existentes deben adaptarse a este proceso. Por ejemplo, dado que las tecnologías de seguimiento de trayectorias son habilitadores esenciales, se deben aplicar verificaciones exhaustivas en aplicaciones relacionadas como el control de movimiento del vehículo y la estimación de parámetros. Además, las tecnologías en el vehículo deben ser lo suficientemente robustas para cumplir con los requisitos de seguridad, mejorando la redundancia y respaldar una operación a prueba de fallos. Considerando las premisas mencionadas, esta Tesis Doctoral tiene como objetivo el diseño y la implementación de un marco para lograr Sistemas de Conducción Automatizados (ADS) considerando aspectos cruciales, como la ejecución en tiempo real, la robustez, el rango operativo y el ajuste sencillo de parámetros. Para desarrollar las aportaciones relacionadas con este trabajo, se lleva a cabo un estudio del estado del arte actual en tecnologías de alta automatización de conducción. Luego, se propone un método de dos pasos que aborda la validación de ambos modelos de vehículos de simulación y ADS. Se introducen nuevas formulaciones predictivas basadas en modelos para mejorar la seguridad y el confort en el proceso de seguimiento de trayectorias. Por último, se evalúan escenarios de mal funcionamiento para mejorar la seguridad en entornos urbanos, proponiendo una estrategia alternativa de estimación de posicionamiento para minimizar las condiciones de riesgo

CEPS Task Force on Artificial Intelligence and Cybersecurity Technology, Governance and Policy Challenges Task Force Evaluation of the HLEG Trustworthy AI Assessment List (Pilot Version). CEPS Task Force Report 22 January 2020

The Centre for European Policy Studies launched a Task Force on Artificial Intelligence (AI) and Cybersecurity in September 2019. The goal of this Task Force is to bring attention to the market, technical, ethical and governance challenges posed by the intersection of AI and cybersecurity, focusing both on AI for cybersecurity but also cybersecurity for AI. The Task Force is multi-stakeholder by design and composed of academics, industry players from various sectors, policymakers and civil society. The Task Force is currently discussing issues such as the state and evolution of the application of AI in cybersecurity and cybersecurity for AI; the debate on the role that AI could play in the dynamics between cyber attackers and defenders; the increasing need for sharing information on threats and how to deal with the vulnerabilities of AI-enabled systems; options for policy experimentation; and possible EU policy measures to ease the adoption of AI in cybersecurity in Europe. As part of such activities, this report aims at assessing the High-Level Expert Group (HLEG) on AI Ethics Guidelines for Trustworthy AI, presented on April 8, 2019. In particular, this report analyses and makes suggestions on the Trustworthy AI Assessment List (Pilot version), a non-exhaustive list aimed at helping the public and the private sector in operationalising Trustworthy AI. The list is composed of 131 items that are supposed to guide AI designers and developers throughout the process of design, development, and deployment of AI, although not intended as guidance to ensure compliance with the applicable laws. The list is in its piloting phase and is currently undergoing a revision that will be finalised in early 2020. This report would like to contribute to this revision by addressing in particular the interplay between AI and cybersecurity. This evaluation has been made according to specific criteria: whether and how the items of the Assessment List refer to existing legislation (e.g. GDPR, EU Charter of Fundamental Rights); whether they refer to moral principles (but not laws); whether they consider that AI attacks are fundamentally different from traditional cyberattacks; whether they are compatible with different risk levels; whether they are flexible enough in terms of clear/easy measurement, implementation by AI developers and SMEs; and overall, whether they are likely to create obstacles for the industry. The HLEG is a diverse group, with more than 50 members representing different stakeholders, such as think tanks, academia, EU Agencies, civil society, and industry, who were given the difficult task of producing a simple checklist for a complex issue. The public engagement exercise looks successful overall in that more than 450 stakeholders have signed in and are contributing to the process. The next sections of this report present the items listed by the HLEG followed by the analysis and suggestions raised by the Task Force (see list of the members of the Task Force in Annex 1)

Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach

Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even complicated urban scenarios in great detail. Yet, what is often missing are general-purpose path- or trajectory planners which are not designed for a specific purpose. In this paper we look at path- and trajectory planning from an architectural point of view and show how model predictive frameworks can contribute to generalized path- and trajectory generation approaches for generating safe trajectories even in cases of system failures.Comment: Presented at IEEE Intelligent Vehicles Symposium 2017, Los Angeles, CA, US

Optimization-based Fault Mitigation for Safe Automated Driving

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is increasing. A variety of faults or failures could occur, and there exists a high variety of ways to respond to such events. Once a fault or failure is detected, there is a need to classify its severity and decide on appropriate and safe mitigating actions. To provide a solution to this mitigation challenge, in this paper a functional-safety architecture is proposed and an optimization-based mitigation algorithm is introduced. This algorithm uses nonlinear model predictive control (NMPC) to bring a vehicle, suffering from a severe fault, such as a power steering failure, to a safe-state. The internal model of the NMPC uses the information from the fault detection, isolation and identification to optimize the tracking performance of the controller, showcasing the need of the proposed architecture. Given a string of ACC vehicles, our results demonstrate a variety of tactical decision-making approaches that a fault-affected vehicle could employ to manage any faults. Furthermore, we show the potential for improving the safety of the affected vehicle as well as the effect of these approaches on the duration of the manoeuvre.Comment: Accepted for the 2023 IFAC World Conferenc

The Safety Shell: an Architecture to Handle Functional Insufficiencies in Automated Driving

To enable highly automated vehicles where the driver is no longer a safety backup, the vehicle must deal with various Functional Insufficiencies (FIs). Thus-far, there is no widely accepted functional architecture that maximizes the availability of autonomy and ensures safety in complex vehicle operational design domains. In this paper, we present a survey of existing methods that strive to prevent or handle FIs. We observe that current design-time methods of preventing FIs lack completeness guarantees. Complementary solutions for on-line handling cannot suitably increase safety without seriously impacting availability of journey continuing autonomous functionality. To fill this gap, we propose the Safety Shell, a scalable multi-channel architecture and arbitration design, built upon preexisting functional safety redundant channel architectures. We compare this novel approach to existing architectures using numerical case studies. The results show that the Safety Shell architecture allows the automated vehicle to be as safe or safer compared to alternatives, while simultaneously improving availability of vehicle autonomy, thereby increasing the possible coverage of on-line functional insufficiency handling.Comment: 18 pages, 23 figures, 6 tables --> 21/11/2023 resubmitted with new content based on reviews, removed erroneously included formattin