| 1. |
- Aramrattana, Maytheewat
(författare)
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Modelling and Simulation for Evaluation of Cooperative Intelligent Transport System Functions
- 2016
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Future vehicles are expected to be equipped with wireless communication technology, that enables them to be “connected” to each others and road infrastructures. Complementing current autonomous vehicles and automated driving systems, the wireless communication allows the vehicles to interact, cooperate, and be aware of its surroundings beyond their own sensors’ range. Such sys- tems are often referred to as Cooperative Intelligent Transport Systems (C-ITS), which aims to provide extra safety, efficiency, and sustainability to transporta- tion systems. Several C-ITS applications are under development and will require thorough testing and evaluation before their deployment in the real-world. C- ITS depend on several sub-systems, which increase their complexity, and makes them difficult to evaluate.Simulations are often used to evaluate many different automotive applications, including C-ITS. Although they have been used extensively, simulation tools dedicated to determine all aspects of C-ITS are rare, especially human factors aspects, which are often ignored. The majority of the simulation tools for C-ITS rely heavily on different combinations of network and traffic simulators. The human factors issues have been covered in only a few C-ITS simulation tools, that involve a driving simulator. Therefore, in this thesis, a C-ITS simulation framework that combines driving, network, and traffic simulators is presented. The simulation framework is able to evaluate C-ITS applications from three perspectives; a) human driver; b) wireless communication; and c) traffic systems.Cooperative Adaptive Cruise Control (CACC) and its applications are chosen as the first set of C-ITS functions to be evaluated. Example scenarios from CACC and platoon merging applications are presented, and used as test cases for the simulation framework, as well as to elaborate potential usages of it. Moreover, approaches, results, and challenges from composing the simulation framework are presented and discussed. The results shows the usefulness of the proposed simulation framework.
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| 2. |
- Malik, Mateen, et al.
(författare)
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Simulation-based Evaluation of a Remotely Operated Road Vehicle under Transmission Delays and Denial-of-Service Attacks
- 2023
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Ingår i: Proceedings of IEEE Pacific Rim International Symposium on Dependable Computing, PRDC. - : IEEE Computer Society. - 1541-0110. ; 2023, s. 23-29
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Konferensbidrag (refereegranskat)abstract
- A remotely operated road vehicle (RORV) refers to a vehicle operated wirelessly from a remote location. In this paper, we report results from an evaluation of two safety mechanisms: safe braking and disconnection. These safety mechanisms are included in the control software for RORV developed by Roboauto, an intelligent mobility solutions provider. The safety mechanisms monitor the communication system to detect packet transmission delays, lost messages, and outages caused by naturally occurring interference as well as denial-of-service (DoS) attacks. When the delay in the communication channel exceeds certain threshold values, the safety mechanisms are to initiate control actions to reduce the vehicle speed or stop the affected vehicle safely as soon as possible. To evaluate the effectiveness of the safety mechanisms, we exposed the vehicle control software to various communication failures using a software-in-the-loop (SIL) testing environment developed specifically for this study. Our results show that the safety mechanisms behaved correctly for a vast majority of the simulated communication failures. However, in a few cases, we noted that the safety mechanisms were triggered incorrectly, either too early or too late, according to the system specification.
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| 3. |
- Linder, Astrid, 1959-, et al.
(författare)
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Dummy Kinematics Assessment : Evaluation of a Combined Gyro and Accelerometer Set-up
- 2023
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Ingår i: 2023 IRCOBI Conference Proceedings. - : International Research Council on Biomechanics of Injury (IRCOBI). ; , s. 230-231
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- Crash test dummy kinematics is commonly obtained from high-speed video recordings or other opticalmethods. The present study evaluates a cost-efficient sensor system combining gyros and accelerometers toderive the kinematics of different parts of a dummy. This evaluation was done on the newly designed humansurrogates, the Seat Evaluation Tools (SET) 50F and 50M, developed for low severity rear impacts and hereequipped with gyros at four locations
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| 4. |
- Aramrattana, Maytheewat, et al.
(författare)
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Cooperative Driving Simulation
- 2016
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Ingår i: Proceedings of the Driving Simulation Conference 2016. ; , s. 123-132
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Konferensbidrag (refereegranskat)abstract
- For a few decades, driving simulators have been supporting research and development of advanced driver assistance systems (ADAS). In the near future, connected vehicles are expected to be deployed. Driving simulators will need to support evaluation of cooperative driving applications within cooperative intelligent transportation systems (C-ITS) scenarios. C-ITS utilize vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communication. Simulation of the inter vehicle communication is often not supported in driving simulators. On the other hand, previous efforts have been made to connect network simulators and traffic simulators, to perform C-ITS simulations. Nevertheless, interactions between actors in the system is an essential aspect of C-ITS. Driving simulators can provide the opportunity to study interactions and reactions of human drivers to the system. This paper present simulation of a C-ITS scenario using a combination of driving, network, and traffic simulators. The architecture of the solution and important challenges of the integration are presented. A scenario from Grand Cooperative Driving Challenge (GCDC) 2016 is implemented in the simulator as an example use case. Lastly, potential usages and future developments are discussed.
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| 5. |
- Bakker, Bram, et al.
(författare)
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A Multi-Stage, Multi-Feature Machine Learning Approach to Detect Driver Sleepiness in Naturalistic Road Driving Conditions
- 2022
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Ingår i: IEEE transactions on intelligent transportation systems (Print). - : IEEE. - 1524-9050 .- 1558-0016. ; 23:5, s. 4791-4800
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Tidskriftsartikel (refereegranskat)abstract
- Driver fatigue is a contributing factor in about 20% of all fatal road crashes worldwide. Countermeasures are urgently needed and one of the most promising and currently available approaches for that are in-vehicle systems for driver fatigue detection. The main objective of this paper is to present a video-based driver sleepiness detection system set up as a two-stage model with (1) a generic deep feature extraction module combined with (2) a personalised sleepiness detection module. The approach was designed and evaluated using data from 13 drivers, collected during naturalistic driving conditions on a motorway in Sweden. Each driver performed one 90-minute driving session during daytime (low sleepiness condition) and one session during night-time (high sleepiness condition). The sleepiness detection model outputs a continuous output representing the Karolinska Sleepiness Scale (KSS) scale from 1-9 or a binary decision as alert (defined as KSS 1-6) or sleepy (defined as KSS 7-9). Continuous output modelling resulted in a mean absolute error (MAE) of 0.54 KSS units. Binary classification of alert or sleepy showed an accuracy of 92% (sensitivity = 91.7%, specificity = 92.3%, F1 score = 90.4%). Without personalisation, the corresponding accuracy was 72%, while a standard fatigue detection PERCLOS-based baseline method reached an accuracy of 68% on the same dataset. The developed real-time sleepiness detection model can be used in the management of sleepiness/fatigue by detecting precursors of severe fatigue, and ultimately reduce sleepiness-related road crashes by alerting drivers before high levels of fatigue are reached.
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| 6. |
- Albinsson, Anton, 1989, et al.
(författare)
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Estimation of the inertial parameters of vehicles with electric propulsion
- 2016
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Ingår i: Proceedings of the Institution of mechanical engineers. Part D, journal of automobile engineering. - : Sage Publications. - 0954-4070 .- 2041-2991. ; 230:9, s. 1155-1172
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Tidskriftsartikel (refereegranskat)abstract
- More accurate information about the basic vehicle parameters can improve the dynamic control functions of a vehicle. Methods for online estimation of the mass, the rolling resistance, the aerodynamic drag coefficient, the yaw inertia and the longitudinal position of the centre of gravity of an electric hybrid vehicle is therefore proposed. The estimators use the standard vehicle sensor set and the estimate of the electric motor torque. No additional sensors are hence required and no assumptions are made regarding the tyre or the vehicle characteristics. Consequently, all information about the vehicle is available to the estimator.The estimators are evaluated using both simulations and experiments. Estimations of the mass, the rolling resistance and the aerodynamic drag coefficient are based on a recursive least-squares method with multiple forgetting factors. The mass estimate converged to within 3% of the measured vehicle mass for the test cases with sufficient excitation that were evaluated. Two methods to estimate the longitudinal position of the centre of gravity and the yaw inertia are also proposed. The first method is based on the equations of motion and was found to be sensitive to the measurement and parameter errors. The second method is based on the estimated mass and seat-belt indicators.This estimator is more robust and reduces the estimation error in comparison with that obtained by assuming static parameters. The results show that the proposed method improves the estimations of the inertial parameters. Hence, it enables online non-linear tyre force estimators and tyre-model-based tyre–road friction estimators to be used in production vehicles.
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| 7. |
- Aramrattana, Maytheewat, et al.
(författare)
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Extended Driving Simulator for Evaluation of Cooperative Intelligent Transport Systems
- 2016
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Ingår i: Proceedings of the 2016 annual ACM Conference on SIGSIM Principles of Advanced Discrete Simulation (SIGSIM-PADS '16). - New York, NY, USA : ACM Digital Library. - 9781450337427 ; , s. 255-258
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Konferensbidrag (refereegranskat)abstract
- Vehicles in cooperative intelligent transport systems (C-ITS) often need to interact with each other in order to achieve their goals, safe and efficient transport services. Since human drivers are still expected to be involved in C-ITS, driving simulators are appropriate tools for evaluation of the C-ITS functions. However, driving simulators often simplify the interactions or influences from the ego vehicle on the traffic. Moreover, they normally do not support vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communication, which is the main enabler for C-ITS. Therefore, to increase the C-ITS evaluation capability, a solution on how to extend a driving simulator with traffic and network simulators to handle cooperative systems is presented as a result of this paper. Evaluation of the result using two use cases is presented. And, the observed limitations and challenges of the solution are reported and discussed.
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| 8. |
- Kharrazi, Sogol, 1980-, et al.
(författare)
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Sustainable smart-parking management for connected and autonomous vehicles
- 2020
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Traffic induced by parking-spot seekers is a growing challenge and constitutes a considerable portion of the traffic in city centers. New opportunities to solve this problem are emerging by connected vehicles and infrastructure. For instance, ultrasonic and magnetic sensors are already mounted on the ceiling of many parking lots to detect the availability of a parking spot. These sensors can provide parking spot availability information in real-time. Further, traffic-aware smart sensors which can detect the movement of individual vehicles are also available in many city and highway areas. This report suggests an algorithm for a cloud-based parking service that exploits these streams of data to choose the best parking lot in a given parking area.The parking seeking problem is subject to a range of criteria that may include user, municipality and parking operator preferences. Users may have some preferences with respect to walking distance to destination. Municipalities prefer to spread the traffic to reduce congestion in the urban core. Parking operators seek to maximize parking lot utilization in order to increase the revenue on real-estate investments. To solve this problem, an optimization algorithm based on multicriteria decision making process is used.The proposed SmartPark algorithm employs a discrete Markov-chain model to demystify the future state of a parking lot. The algorithm features three modular sections:• First, a search process is triggered to identify the expected arrival time periods to all parking lots in the targeted parking area. This process utilizes smart pole data streams reporting congestion rates across the targeted parking area.• Then, a predictive analytics phase uses consolidated historical data about past parking dynamics to infer a state transition matrix, showing the transformation of available spots in a parking lot over short periods of time.• Finally, this matrix is projected against similar future seasonal periods to predict the actual vacancy of a parking lot at the arrival time.
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| 9. |
- Aramrattana, Maytheewat, et al.
(författare)
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Dimensions of cooperative driving, ITS and automation
- 2015
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Ingår i: IEEE Intelligent Vehicles Symposium, Proceedings. - Piscataway, NJ : IEEE Press. - 9781467372664 ; , s. 144-149
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Konferensbidrag (refereegranskat)abstract
- Wireless technology supporting vehicle-to-vehicle (V2V), and vehicle-to-infrastructure (V2I) communication, allow vehicles and infrastructures to exchange information, and cooperate. Cooperation among the actors in an intelligent transport system (ITS) can introduce several benefits, for instance, increase safety, comfort, efficiency.Automation has also evolved in vehicle control and active safety functions. Combining cooperation and automation would enable more advanced functions such as automated highway merge and negotiating right-of-way in a cooperative intersection. However, the combination have influences on the structure of the overall transport systems as well as on its behaviour. In order to provide a common understanding of such systems, this paper presents an analysis of cooperative ITS (C-ITS) with regard to dimensions of cooperation. It also presents possible influence on driving behaviour and challenges in deployment and automation of C-ITS.
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| 10. |
- Chugh, Tushar, 1989, et al.
(författare)
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Design of Haptic Feedback Control for Steer-by-Wire
- 2018
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Ingår i: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728103235 ; 21, s. 1737-1744
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Konferensbidrag (refereegranskat)abstract
- This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.
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