Combination of simulation and model-checking for the analysis of autonomous vehicles’ behaviors: A case study

International audienceAutonomous vehicles’ behavioural analysis represents a major challenge in the automotive world. In order to ensure safety and fluidity of driving, various methods are available, in particular, simulation and formal verification. The analysis, however, has to cope with very complex environments depending on many parameters evolving in real time. In this context, none of the aforementioned approaches is fully satisfactory, which lead us to propose a combined methodology in order to point out suspicious behaviours more efficiently. We illustrate this approach by studying a non deterministic scenario involving a vehicle, which has to react to some perilous situation

Analysis of pedestrian-vehicle traffic conflicts in street designs with elements of shared space

This paper investigates changes in pedestrian-vehicle traffic conflicts in urban streets redesigned according to the principles of shared space, using a recently developed Pedestrian-Vehicle Conflicts Analysis (PVCA) method. In a first step, the PVCA method is revised to more accurately reflect the features of shared space: this includes the definition of a systematic process for identifying conflict occurrences on one hand, and the full quantification of the conflict severity grading process on the other. Then, the refined PVCA method is applied to a case study in London, using video data from periods before and after the redevelopment of the Exhibition Road site from a conventional dual carriageway to a modern design with some elements of shared space. The results of the comparative analysis carried out indicate a general decrease in traffic conflict rates as a result of the redesign, but also highlight specific issues that may require additional analysis

Development and implementation of a vehicle-pedestrian conflict analysis method: Adaptation of a vehicle-vehicle technique

This paper examines the development, use, and evaluation of a new traffic conflict analysis technique that specifically addresses pedestrian-vehicle conflicts with the intention of being applicable to shared-space environments. The method is based on an existing, well-established, and widely used vehicle-vehicle conflict analysis technique, but is adapted to consider the movement of pedestrians, which differs significantly from that of vehicles. The new method is then implemented on the Exhibition Road site of West London with the use of video data collected from locations with a potentially high concentration of vehicle-pedestrian conflicts, and the results of the analysis are presented. Finally, the results are compared with those obtained by other conflict analysis techniques and also against accident data to assess not only the accuracy but also the functionality of the new technique

Perturbed Rotations of a Rigid Body Close to the Lagrange Case under the Action of Unsteady Perturbation Torques

Perturbed rotations of a rigid body close to the Lagrange case under the action of perturbation torques slowly varying in time are investigated. Conditions are presented for the possibility of averaging the equations of motion with respect to the nutation angle and the averaged system of equations of motion is obtained. In the case of the rotational motion of the body in the linear-dissipative medium the numerical integration of the averaged system of equations is conducted

Hypertensive response to exercise in adult patients with repaired aortic coarctation

OBJECTIVE: The clinical and prognostic implications of a hypertensive response to exercise after repair of coarctation of the aorta (CoA) remain controversial. We aimed to determine the prevalence of a hypertensive response to exercise, identify factors associated with peak exercise systolic blood pressure (SBP) and explore the association of peak exercise SBP with resting blood pressure and cardiovascular events during follow-up. METHODS: From the Dutch national CONgenital CORvitia (CONCOR) registry, adults with repaired CoA who underwent exercise stress testing were included. A hypertensive response to exercise was defined as a peak exercise SBP ≥210 mm Hg in men and ≥190 mm Hg in women. Cardiovascular events consisted of coronary artery disease, stroke, aortic complications and cardiovascular death. RESULTS: Of the original cohort of 920 adults with repaired CoA, 675 patients (median age 24 years (range 16-72 years)) underwent exercise stress testing. Of these, 299 patients (44%) had a hypertensive response to exercise. Mean follow-up duration was 10.1 years. Male sex, absence of a bicuspid aortic valve and elevated resting SBP were independently associated with increased peak exercise SBP. Peak exercise SBP was positively predictive of office SBP (β=0.11, p<0.001) and 24-hour SBP (β=0.05, p=0.03) at follow-up, despite correction for baseline SBP. During follow-up, 100 patients (15%) developed at least 1 cardiovascular event. Peak exercise SBP was not significantly associated with the occurrence of cardiovascular events (HR 0.994 (95% CI 0.987 to 1.001), p=0.11). CONCLUSIONS: A hypertensive response to exercise was present in nearly half of the patients in this large, prospective cohort of adults with repaired CoA. Risk factors for increased peak exercise SBP were male sex, absence of a bicuspid aortic valve and elevated resting SBP. Increased peak exercise SBP independently predicted hypertension at follow-up. These results support close follow-up of patients with a hypertensive response to exercise to ensure timely diagnosis and treatment of future hypertension

Three-dimensional reconstruction of myocardial contrast perfusion from biplane cineangiograms by means of linear programming techniques

The assessment of coronary flow reserve from the instantaneous distribution of the contrast agent within the coronary vessels and myocardial muscle at the control state and at maximal flow has been limited by the superimposition of myocardial regions of interest in the two-dimensional images. To overcome these limitations, we are in the process of developing a three-dimensional (3D) reconstruction technique to compute the contrast distribution in cross sections of the myocardial muscle from two orthogonal cineangiograms. To limit the number of feasible solutions in the 3D-reconstruction space, the 3D-geometry of the endo- and epicardial boundaries of the myocardium must be determined. For the geometric reconstruction of the epicardium, the centerlines of the left coronary arterial tree are manually or automatically traced in the biplane views. Next, the bifurcations are detected automatically and matched in these two views, allowing a 3D-representation of the coronary tree. Finally, the circumference of the left ventricular myocardium in a selected cross section can be computed from the intersection points of this cross section with the 3D coronary tree using B-splines. For the geometric reconstruction of the left ventricular cavity, we envision to apply the elliptical approximation technique using the LV boundaries defined in the two orthogonal views, or by applying more complex 3D-reconstruction techniques including densitometry. The actual 3D-reconstruction of the contrast distribution in the myocardium is based on a linear programming technique (Transportation model) using cost coefficient matrices. Such a cost coefficient matrix must contain a maximum amount of a priori information, provided by a computer generated model and updated with actual data from the angiographic views. We have only begun to solve this complex problem. However, based on our first experimental results we expect that the linear programming approach with advanced cost coefficient matrices and computed model will lead to a