| 1. |
- Alam, Assad, et al.
(författare)
-
Cooperative driving according to Scoop
- 2011
-
Rapport (övrigt vetenskapligt/konstnärligt)abstract
- KTH Royal Institute of Technology and Scania are entering the GCDC 2011 under the name Scoop –Stockholm Cooperative Driving. This paper is an introduction to their team and to the technical approach theyare using in their prototype system for GCDC 2011.
|
|
| 2. |
- Behere, Sagar, et al.
(författare)
-
A functional architecture for autonomous driving
- 2015
-
Konferensbidrag (refereegranskat)abstract
- As the Technology Readiness Levels (TRLs) of self-driving vehicles increase, it is necessary to investigate the Electrical/Electronic(E/E) system architectures for autonomous driving, beyond proof-of-concept prototypes. Relevant patterns and anti-patterns need to be raised into debate and documented. This paper presents the principal components needed in a functional architecture for autonomous driving, along with reasoning for how they should be distributed across the architecture. A functional architecture integrating all the concepts and reasoning is also presented.
|
|
| 3. |
- Behere, Sagar, 1981-
(författare)
-
A Functional Brake Architecture for Autonomous Heavy Commercial Vehicles
-
Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Heavy commercial vehicles constitute the dominant form of inland freight transport. There is a strong interest in making such vehicles autonomous (self-‐driving), in order to improve safety and the economics of fleet operation. Autonomy concerns affect a number of key systems within the vehicle. One such key system is brakes, which need to remain continuously available throughout vehicle operation. This paper presents a fail-‐operational functional brake architecture for autonomous heavy commercial vehicles. The architecture is based on a reconfiguration of the existing brake systems in a typical vehicle, in order to attain dynamic, diversified redundancy along with desired brake performance. Specifically, the parking brake is modified to act as a secondary brake with capabilities for monitoring and intervention of the primary brake system. A basic fault tree analysis of the architecture indicates absence of single points of failure, and a reliability analysis shows that it is reasonable to expect about an order of magnitude improvement in overall system reliability.
|
|
| 4. |
- Behere, Sagar, et al.
(författare)
-
A Functional Brake Architecture for Autonomous Heavy Commercial Vehicles
- 2016
-
Ingår i: SAE 2016 World Congress and Exhibition. - 400 Commonwealth Drive, Warrendale, PA, United States : SAE International.
-
Konferensbidrag (refereegranskat)abstract
- Heavy commercial vehicles constitute the dominant form of inland freight transport. There is a strong interest in making such vehicles autonomous (self-driving), in order to improve safety and the economics of fleet operation. Autonomy concerns affect a number of key systems within the vehicle. One such key system is brakes, which need to remain continuously available throughout vehicle operation. This paper presents a fail-operational functional brake architecture for autonomous heavy commercial vehicles. The architecture is based on a reconfiguration of the existing brake systems in a typical vehicle, in order to attain dynamic, diversified redundancy along with desired brake performance. Specifically, the parking brake is modified to act as a secondary brake with capabilities for monitoring and intervention of the primary brake system. A basic fault tree analysis of the architecture indicates absence of single points of failure, and a reliability analysis shows that it is reasonable to expect about an order of magnitude improvement in overall system reliability.
|
|
| 5. |
- Behere, Sagar, 1981-, et al.
(författare)
-
A Functional Reference Architecture for Autonomous Driving
- 2016
-
Ingår i: Information and Software Technology. - : Elsevier. - 0950-5849 .- 1873-6025. ; 73, s. 136-150
-
Tidskriftsartikel (refereegranskat)abstract
- ContextAs autonomous driving technology matures towards series production, it is necessary to take a deeper look at various aspects of electrical/electronic (E/E) architectures for autonomous driving.ObjectiveThis paper describes a functional architecture for autonomous driving, along with various considerations that influence such an architecture. The functionality is described at the logical level, without dependence on specific implementation technologies.MethodEngineering design has been used as the research method, which focuses on creating solutions intended for practical application. The architecture has been refined and applied over a five year period to the construction of protoype autonomous vehicles in three different categories, with both academic and industrial stakeholders.ResultsThe architectural components are divided into categories pertaining to (i) perception, (ii) decision and control, and (iii) vehicle platform manipulation. The architecture itself is divided into two layers comprising the vehicle platform and a cognitive driving intelligence. The distribution of components among the architectural layers considers two extremes: one where the vehicle platform is as "dumb" as possible, and the other, where the vehicle platform can be treated as an autonomous system with limited intelligence. We recommend a clean split between the driving intelligence and the vehicle platform. The architecture description includes identification of stakeholder concerns, which are grouped under the business and engineering categories. A comparison with similar architectures is also made, wherein we claim that the presence of explicit components for world modeling, semantic understanding, and vehicle platform abstraction seem unique to our architecture.ConclusionThe concluding discussion examines the influences of implementation technologies on functional architectures and how an architecture is affected when a human driver is replaced by a computer. The discussion also proposes that reduction and acceleration of testing, verification, and validation processes is the key to incorporating continuous deployment processes.
|
|
| 6. |
- Behere, Sagar, 1981-, et al.
(författare)
-
A reference architecture for cooperative driving
- 2013
-
Ingår i: Journal of systems architecture. - : Elsevier BV. - 1383-7621 .- 1873-6165. ; 59:10: Part C, s. 1095-1112
-
Tidskriftsartikel (refereegranskat)abstract
- Cooperative driving systems enable vehicles to adapt their motion to the surrounding traffic situation by utilizing information communicated by other vehicles and infrastructure in the vicinity. How should these systems be designed and integrated into the modern automobile? What are the needed functions, key architectural elements and their relationships? We created a reference architecture that systematically answers these questions and validated it in real world usage scenarios. Key findings concern required services and enabling them via the architecture. We present the reference architecture and discuss how it can influence the design and implementation of such features in automotive systems.
|
|
| 7. |
- Behere, Sagar, 1981-
(författare)
-
Architecting Autonomous Automotive Systems : With an emphasis on Cooperative Driving
- 2013
-
Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The increasing usage of electronics and software in a modern automobile enables realization of many advanced features. One such feature is autonomous driving. Autonomous driving means that a human driver’s intervention is not required to drive the automobile; rather, theautomobile is capable of driving itself. Achieving automobile autonomyrequires research in several areas, one of which is the area of automotive electrical/electronics (E/E) architectures. These architectures deal with the design of the computer hardware and software present inside various subsystems of the vehicle, with particular attention to their interaction and modularization. The aim of this thesis is to investigate how automotive E/E architectures should be designed so that 1) it ispossible to realize autonomous features and 2) a smooth transition canbe made from existing E/E architectures, which have no explicit support for autonomy, to future E/E architectures that are explicitly designed for autonomy.The thesis begins its investigation by considering the specific problem of creating autonomous behavior under cooperative driving condi-tions. Cooperative driving conditions are those where continuous wireless communication exists between a vehicle and its surroundings, which consist of the local road infrastructure as well as the other vehicles in the vicinity. In this work, we define an original reference architecture for cooperative driving. The reference architecture demonstrates how a subsystem with specific autonomy features can be plugged into an existing E/E architecture, in order to realize autonomous driving capabilities. Two salient features of the reference architecture are that it isminimally invasive and that it does not dictate specific implementation technologies. The reference architecture has been instantiated on two separate occasions and is the main contribution of this thesis. Another contribution of this thesis is a novel approach to the design of general, autonomous, embedded systems architectures. The approach introduces an artificial consciousness within the architecture, that understands the overall purpose of the system and also how the different existing subsystems should work together in order to meet that purpose.This approach can enable progressive autonomy in existing embedded systems architectures, over successive design iterations.
|
|
| 8. |
- Behere, Sagar, 1981-, et al.
(författare)
-
Architecture challenges for intelligent autonomous machines : An industrial perspective
- 2014
-
Ingår i: Intelligent Autonomous Systems 13. - Cham : Springer International Publishing. - 9783319083377 ; , s. 1669-1681
-
Konferensbidrag (refereegranskat)abstract
- Machines are displaying a trend of increasing autonomy. This has a far reaching impact on the architectures of the embedded systems within the machine. The impact needs to be clearly understood and the main obstacles to autonomy need to be identified. The obstacles, especially from an industrial perspective, are not just technological but also relate to system aspects like certification, development processes and product safety. In this paper, we identify and discuss some of the main obstacles to autonomy from the viewpoint of technical specialists working on advanced industrial product development. The identified obstacles cover topics like world modeling, user interaction, complexity and system safety.
|
|
| 9. |
|
|
| 10. |
- Behere, Sagar, et al.
(författare)
-
Educating embedded systems hackers : A practitioner's perspective
- 2014
-
Ingår i: 2014 Workshop on Embedded and Cyber-Physical Systems Education, WESE 2014 - Proceedings. - New York, NY, USA : ACM Digital Library. - 9781450330909
-
Konferensbidrag (refereegranskat)abstract
- This paper presents some practical skills which bridge the gap between a sound theoretical education in embedded systems and the skillset acquired by experienced practitioners in the field. The presentation of each skill is accompanied by common solution patterns, state-of-practice technologies, and a set of exercises to provide practical uptake of each skill.
|
|
