Controlling Concurrent Change - A Multiview Approach Toward Updatable Vehicle Automation Systems

The development of SAE Level 3+ vehicles [{SAE}, 2014] poses new challenges not only for the functional development, but also for design and development processes. Such systems consist of a growing number of interconnected functional, as well as hardware and software components, making safety design increasingly difficult. In order to cope with emergent behavior at the vehicle level, thorough systems engineering becomes a key requirement, which enables traceability between different design viewpoints. Ensuring traceability is a key factor towards an efficient validation and verification of such systems. Formal models can in turn assist in keeping track of how the different viewpoints relate to each other and how the interplay of components affects the overall system behavior. Based on experience from the project Controlling Concurrent Change, this paper presents an approach towards model-based integration and verification of a cause effect chain for a component-based vehicle automation system. It reasons on a cross-layer model of the resulting system, which covers necessary aspects of a design in individual architectural views, e.g. safety and timing. In the synthesis stage of integration, our approach is capable of inserting enforcement mechanisms into the design to ensure adherence to the model. We present a use case description for an environment perception system, starting with a functional architecture, which is the basis for componentization of the cause effect chain. By tying the vehicle architecture to the cross-layer integration model, we are able to map the reasoning done during verification to vehicle behavior

Geometric Cross-Modal Comparison of Heterogeneous Sensor Data

In this work, we address the problem of cross-modal comparison of aerial data streams. A variety of simulated automobile trajectories are sensed using two different modalities: full-motion video, and radio-frequency (RF) signals received by detectors at various locations. The information represented by the two modalities is compared using self-similarity matrices (SSMs) corresponding to time-ordered point clouds in feature spaces of each of these data sources; we note that these feature spaces can be of entirely different scale and dimensionality. Several metrics for comparing SSMs are explored, including a cutting-edge time-warping technique that can simultaneously handle local time warping and partial matches, while also controlling for the change in geometry between feature spaces of the two modalities. We note that this technique is quite general, and does not depend on the choice of modalities. In this particular setting, we demonstrate that the cross-modal distance between SSMs corresponding to the same trajectory type is smaller than the cross-modal distance between SSMs corresponding to distinct trajectory types, and we formalize this observation via precision-recall metrics in experiments. Finally, we comment on promising implications of these ideas for future integration into multiple-hypothesis tracking systems.Comment: 10 pages, 13 figures, Proceedings of IEEE Aeroconf 201