Critical Scenario Identification for Testing of Autonomous Driving Systems

Background: Autonomous systems have received considerable attention from academia and are adopted by various industrial domains, such as automotive, avionics, etc. As many of them are considered safety-critical, testing is indispensable to verify their reliability and safety. However, there is no common standard for testing autonomous systems efficiently and effectively. Thus new approaches for testing such systems must be developed.Aim: The objective of this thesis is two-fold. First, we want to present an overview of software testing of autonomous systems, i.e., relevant concepts, challenges, and techniques available in academic research and industry practice. Second, we aim to establish a new approach for testing autonomous driving systems and demonstrate its effectiveness by using real autonomous driving systems from industry.Research Methodology: We conducted the research in three steps using the design science paradigm. First, we explored the existing literature and industry practices to understand the state of the art for testing of autonomous systems. Second, we focused on a particular sub-domain - autonomous driving - and proposed a systematic approach for critical test scenario identification. Lastly, we validated our approach and employed it for testing real autonomous driving systems by collaborating with Volvo Cars.Results: We present the results as four papers in this thesis. First, we conceptualized a definition of autonomous systems and classified challenges and approaches, techniques, and practices for testing autonomous systems in general. Second, we designed a systematic approach for critical test scenario identification. We employed the approach for testing two real autonomous driving systems from the industry and have effectively identified critical test scenarios. Lastly, we established a model for predicting the distribution of vehicle-pedestrian interactions for realistic test scenario generation for autonomous driving systems. Conclusion: Critical scenario identification is a favorable approach to generate test scenarios and facilitate the testing of autonomous driving systems in an efficient way. Future improvement of the approach includes (1) evaluating the effectiveness of the generated critical scenarios for testing; (2) extending the sub-components in this approach; (3) combining different testing approaches, and (4) exploring the application of the approach to test different autonomous systems

Concepts in Testing of Autonomous Systems: Academic Literature and Industry Practice

Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears to operate in more structured environments and are explicitly instructed according to the system design and implementation. To gain a better understanding of autonomous systems practice and facilitate research on testing of such systems, we conducted an exploratory study by synthesizing academic literature with a focus group discussion and interviews with industry practitioners. Based on thematic analysis of the data, we provide a conceptualization of autonomous systems, classifications of challenges and current practices as well as of available techniques and approaches for testing of autonomous systems. Our findings also indicate that more research efforts are required for testing of autonomous systems to improve both the quality and safety aspects of such systems.Comment: 8 pages, 5 figures, conferenc

LSTM-TrajGAN: A Deep Learning Approach to Trajectory Privacy Protection

The prevalence of location-based services contributes to the explosive growth of individual-level trajectory data and raises public concerns about privacy issues. In this research, we propose a novel LSTM-TrajGAN approach, which is an end-to-end deep learning model to generate privacy-preserving synthetic trajectory data for data sharing and publication. We design a loss metric function TrajLoss to measure the trajectory similarity losses for model training and optimization. The model is evaluated on the trajectory-user-linking task on a real-world semantic trajectory dataset. Compared with other common geomasking methods, our model can better prevent users from being re-identified, and it also preserves essential spatial, temporal, and thematic characteristics of the real trajectory data. The model better balances the effectiveness of trajectory privacy protection and the utility for spatial and temporal analyses, which offers new insights into the GeoAI-powered privacy protection

An Industrial Workbench for Test Scenario Identification for Autonomous Driving Software

Testing of autonomous vehicles involves enormous challenges for the automotive industry. The number of real-world driving scenarios is extremely large, and choosing effective test scenarios is essential, as well as combining simulated and real world testing. We present an industrial workbench of tools and workflows to generate efficient and effective test scenarios for active safety and autonomous driving functions. The workbench is based on existing engineering tools, and helps smoothly integrate simulated testing, with real vehicle parameters and software. We aim to validate the workbench with real cases and further refine the input model parameters and distributions

Exploring ML testing in practice - Lessons learned from an interactive rapid review with Axis Communications

There is a growing interest in industry and academia in machine learning (ML) testing. We believe that industry and academia need to learn together to produce rigorous and relevant knowledge. In this study, we initiate a collaboration between stakeholders from one case company, one research institute, and one university. To establish a common view of the problem domain, we applied an interactive rapid review of the state of the art. Four researchers from Lund University and RISE Research Institutes and four practitioners from Axis Communications reviewed a set of 180 primary studies on ML testing. We developed a taxonomy for the communication around ML testing challenges and results and identified a list of 12 review questions relevant for Axis Communications. The three most important questions (data testing, metrics for assessment, and test generation) were mapped to the literature, and an in-depth analysis of the 35 primary studies matching the most important question (data testing) was made. A final set of the five best matches were analysed and we reflect on the criteria for applicability and relevance for the industry. The taxonomies are helpful for communication but not final. Furthermore, there was no perfect match to the case company’s investigated review question (data testing). However, we extracted relevant approaches from the five studies on a conceptual level to support later context-specific improvements. We found the interactive rapid review approach useful for triggering and aligning communication between the different stakeholders

Wireless capsule endoscopy exploration for diseases of the small intestine in China

For small bowel diseases, it is difficult for the ordinary enteroscopy to reach due to its specific curvature and length. Capsule endoscopy (CE) is a unique tool to visualize the mucosa of the small intestine. The aim of this study was to evaluate the detection rate and diagnostic yield of CE in a large group of patients with suspected digestive diseases in China. One hundred and two consecutive patients (75 male, mean age 50 years, range 32-87 years) underwent CE in our Gastroenterology Units, for a total of 102 procedures. Referrals were obscure occult/ overt gastrointestinal bleeding group (19 patients) and suspected small bowel disease group (83). In our study, the whole detection rate was 92 % (94/102), with a definite diagnosis yield of 63 % of the patients in the obscure gastrointestinal bleeding and 39 % of the patients in the suspected small bowel diseases. None of the patients developed symptoms of signs of mechanical obstruction, although the capsule was retained in the stomach in 2/102 patients for their somatostatin taken. CE seems to be a very safe, painless and effective procedure with a high diagnostic yield. Accurate selection of indications and critical evaluation of the results are essential to explore these diseases

Exploring the effectiveness of geomasking techniques for protecting the geoprivacy of Twitter users

With the ubiquitous use of location-based services, large-scale individual-level location data has been widely collected through location-awareness devices. Geoprivacy concerns arise on the issues of user identity de-anonymization and location exposure. In this work, we investigate the effectiveness of geomasking techniques for protecting the geoprivacy of active Twitter users who frequently share geotagged tweets in their home and work locations. By analyzing over 38,000 geotagged tweets of 93 active Twitter users in three U.S. cities, the two-dimensional Gaussian masking technique with proper standard deviation settings is found to be more effective to protect user\u27s location privacy while sacrificing geospatial analytical resolution than the random perturbation masking method and the aggregation on traffic analysis zones. Furthermore, a three-dimensional theoretical framework considering privacy, analytics, and uncertainty factors simultaneously is proposed to assess geomasking techniques. Our research offers insights into geoprivacy concerns of social media users\u27 georeferenced data sharing for future development of location-based applications and services

Mixed land use measurement and mapping with street view images and spatial context-aware prompts via zero-shot multimodal learning

Traditional overhead imagery techniques for urban land use detection and mapping often lack the precision needed for accurate, fine-grained analysis, particularly in complex environments with multi-functional, multi-story buildings. To bridge the gap, this study introduces a novel approach, utilizing ground-level street view images geo-located at the point level, to provide more concrete, subtle, and informative visual characteristics for urban mixed land use analysis, addressing the two major limitations of overhead imagery: coarse resolution and insufficient visual information. Given that spatial context-aware land-use descriptions are commonly employed to describe urban environments, this study treats mixed land use detection as a Natural Language for Visual Reasoning (NLVR) task, i.e., classifying land use(s) in images based on the similarity of their visual characteristics and local descriptive land use contexts, by integrating street view images (vision) with spatial context-aware land use descriptions (language) through vision-language multimodal learning. The results indicate that our multimodal approach significantly outperforms traditional vision-based methods and can accurately capture the multiple functionalities of the ground features. It benefits from the incorporation of spatial context-aware prompts, whereas the geographic scale of geo-locations matters. Additionally, our approach marks a significant advancement in mixed land use mapping, achieving point-level precision. It allows for the representation of diverse land use types at point locations, offering the flexibility of mapping at various spatial resolutions, including census tracts and zoning districts. This approach is particularly effective in areas with diverse urban functionalities, facilitating a more fine-grained and detailed perspective on mixed land uses in urban settings

Coordinated voltage control for improved power system voltage stability by incorporating the reactive power reserve from wind farms

The absorption and output characteristics of reactive power of the doubly-fed induction generator (DFIG) greatly influence the voltage stability of PCC (Point of Common Coupling) where the wind farms are integrated into the bulk power grid. This study proposes a reactive power compensation strategy for coordinated voltage control (CVC) of PCC with large-scale wind farms to achieve the expected voltage quality of the power grid through a minimum amount of control actions in emergencies. To this end, the mechanism of reactive power and voltage control inside DFIG is first analyzed. Then, the concept of reactive power reserve (RPR) sensitivity concerning control actions is introduced and an index of voltage stability margin is proposed to evaluate and analyze the distance between the current operating point and the voltage collapse point by analyzing the relationship between reactive power reserve and voltage stability margin. In the event of an emergency, critical reactive power reserves are obtained to reduce the dimension and complexity of the control problem. The sensitivity of reactive power reserve and the control are formulated into a convex quadratic programming problem to optimize the control strategies for voltage stability. The proposed technology has been validated on the IEEE 39-bus system

Large-scale Huygens metasurfaces for holographic 3D near-eye displays

Novel display technologies aim at providing the users with increasingly immersive experiences. In this regard, it is a long-sought dream to generate three-dimensional (3D) scenes with high resolution and continuous depth, which can be overlaid with the real world. Current attempts to do so, however, fail in providing either truly 3D information, or a large viewing area and angle, strongly limiting the user immersion. Here, we report a proof-of-concept solution for this problem, and realize a compact holographic 3D near-eye display with a large exit pupil of 10mm x 8.66mm. The 3D image is generated from a highly transparent Huygens metasurface hologram with large (>10^8) pixel count and subwavelength pixels, fabricated via deep-ultraviolet immersion photolithography on 300 mm glass wafers. We experimentally demonstrate high quality virtual 3D scenes with ~50k active data points and continuous depth ranging from 0.5m to 2m, overlaid with the real world and easily viewed by naked eye. To do so, we introduce a new design method for holographic near-eye displays that, inherently, is able to provide both parallax and accommodation cues, fundamentally solving the vergence-accommodation conflict that exists in current commercial 3D displays.Comment: 21 pages, 9 figure