16 research outputs found
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
Towards Efficient Hazard Identification in the Concept Phase of Driverless Vehicle Development
The complex functional structure of driverless vehicles induces a multitude
of potential malfunctions. Established approaches for a systematic hazard
identification generate individual potentially hazardous scenarios for each
identified malfunction. This leads to inefficiencies in a purely expert-based
hazard analysis process, as each of the many scenarios has to be examined
individually. In this contribution, we propose an adaptation of the strategy
for hazard identification for the development of automated vehicles. Instead of
focusing on malfunctions, we base our process on deviations from desired
vehicle behavior in selected operational scenarios analyzed in the concept
phase. By evaluating externally observable deviations from a desired behavior,
we encapsulate individual malfunctions and reduce the amount of generated
potentially hazardous scenarios. After introducing our hazard identification
strategy, we illustrate its application on one of the operational scenarios
used in the research project UNICAR.Comment: Published in 2020 IEEE Intelligent Vehicles Symposium (IV), Las
Vegas, NV, USA, October 19-November 13, 202
Functional Safety Concept Generation within the Process of Preliminary Design of Automated Driving Functions at the Example of an Unmanned Protective Vehicle
Structuring the early design phase of automotive systems is an important part of efficient and successful
development processes. Today, safety considerations (e.g., the safety life cycle of ISO 26262)
significantly affect the course of development. Preliminary designs are expressed in functional system
architectures, which are required to form safety concepts. Thus, mapping tasks and work products to a
reference process during early design stages is an important part of structuring the system development.
This contribution describes the systematic creation and notation of the functional safety concept within
the concept phase of development of an unmanned protective vehicle within the research project aFAS.
Different stages of preliminary design and dependencies between them are displayed by the work
products created and used. The full set of functional safety requirements and an excerpt of the safety
argument structure of the SAE level 4 application are presented
Integration of a Vehicle Operating Mode Management into UNICARagil’s Automotive Service-oriented Software Architecture
Automated vehicles require a central decision unit in order to coordinate the responsibility for the driving task between multiple operating modes. Additionally, other nondriving related tasks such as operation of an automatic door system must be coordinated as well. In this paper, we will motivate the usefulness of such a central decision unit at the example of the operating mode management of the UNICARagil project. We will describe its integration with UNICARagil’s Automotive Service-oriented Software Architecture and how modularity of this service-oriented software architecture is ensured. An example from the project’s context will further illustrate the functioning principle of the operating mode management in combination with the service orchestration of the Automotive Service-oriented Software Architecture
Towards Safety Concepts for Automated Vehicles by the Example of the Project UNICARagil
Striving towards deployment of SAE level 4+ vehicles in public traffic, researchers and
developers face several challenges due to the targeted operation in an open environment.
Due to the absence of a human supervisor, ensuring and validating safety while
driving automatically is one of the key challenges. The arising complexity of the technical
system must be handled during the entire research and development process. In
this contribution, we outline the coherence of different safety-activities in the research
project UNICARagi/. We derive high-level safety requirements and present the central
safety mechanisms applied to automated diriving. Moreover, we outline the approaches
of the project UNICARagi/ to address the validation challenge for automated vehicles.
In order to demonstrate the overall approach towards a coherent safety argumentation,
the connection of high-level safety requirements, safety mechanisms, as weil as validation
approaches is illustrated by means of a selected example scenario
UNICARagil - Disruptive Modular Architectures for Agile, Automated Vehicle Concepts
This paper introduces UNICARagil, a collaborative project carried out by a consortium
of seven German universities and six industrial partners, with funding provided by the
Federal Ministry of Education and Research of Germany. In the scope of this project,
disruptive modular structures for agile, automated vehicle concepts are researched
and developed. Four prototype vehicles of different characteristics based on the same
modular platform are going to be build up over a period of four years. The four fully
automated and driverless vehicles demonstrate disruptive architectures in hardware
and software, as well as disruptive concepts in safety, security, verification and
validation. This paper outlines the most important research questions underlying the
project
Automation of the UNICARagil Vehicles
The German research project UNICARagil is a collaboration between eight universities and six industrial partners funded by the Federal Ministry of Education and Research. It aims to develop innovative modular architectures and methods for new agile, automated vehicle concepts. This paper summarizes the automation approach of the driverless vehicle concept and its modular realization within the four demonstration vehicles to be built by the consortium. On-board each vehicle, this comprises sensor modules for environment perception and modelling, motion planning for normal driving and safe halts, as well as the respective control algorithms and base functionalities like precise localization. A control room and cloud functionalities provide off-board support to the vehicles, which are additionally addressed in this paper
A Taxonomy to Unify Fault Tolerance Regimes for Automotive Systems: Defining Fail-Operational, Fail-Degraded, and Fail-Safe
This paper presents a taxonomy that allows defining the fault tolerance
regimes fail-operational, fail-degraded, and fail-safe in the context of
automotive systems. Fault tolerance regimes such as these are widely used in
recent publications related to automated driving, yet without definitions. This
largely holds true for automotive safety standards, too. We show that fault
tolerance regimes defined in scientific publications related to the automotive
domain are partially ambiguous as well as taxonomically unrelated. The
presented taxonomy is based on terminology stemming from ISO 26262 as well as
from systems engineering. It uses four criteria to distinguish fault tolerance
regimes. In addition to fail-operational, fail-degraded, and fail-safe, the
core terminology consists of operational and fail-unsafe. These terms are
supported by definitions of available performance, nominal performance,
functionality, and a concise definition of the safe state. For verification, we
show by means of two examples from the automotive domain that the taxonomy can
be applied to hierarchical systems of different complexity.Comment: 12 pages, 4 figures, 1 table, accepted to appear in IEEE Transactions
on Intelligent Vehicle