| 1. |
- Chen, Xiao, et al.
(författare)
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Safe Intersection Coordination with Mixed Traffic : From Estimation to Control
- 2023
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Konferensbidrag (refereegranskat)abstract
- In this paper, we propose an integrated framework for safe intersection coordination of connected and automated vehicles (CAVs) in mixed traffic. An intelligent intersection is introduced as a central node to orchestrate state data sharing among connected agents and enable CAV to acknowledge the presence of human-driven vehicles (HDVs) beyond the line of sight of onboard sensors. Since state data shared between agents might be uncertain or delayed, we design the intelligent intersection to safely compensate for these uncertainties and delays using robust set estimation and forward reachability analysis. When the intersection receives state data from an agent, it first generates a zonotope to capture the possible measurement noise in the state estimate. Then, to compensate for communication and processing delays, it uses forward reachability analysis to enlarge the set to capture all the possible states the agent could have occupied throughout the delays. Finally, using the resulting set as the initial condition, a distributed model predictive control onboard the CAV will plan an invariant safe motion by considering the worst-case behavior of human drivers. As a result, the vehicle is guaranteed to be safe while driving through the intersection. A prototype of our proposed framework is implemented using.
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| 2. |
- Narri, Vandana, et al.
(författare)
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Performance Optimisation of Accelerated Tests : Simulation and Experimental Approach in Automotive Industry
- 2020
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Ingår i: Proceedings of the 2020 24th International Conference Electronics, ELECTRONICS 2020. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728158686
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Konferensbidrag (refereegranskat)abstract
- This paper is focused on the performance evaluation of Accelerated Tests (AT), which are carried out in a rapid manner to estimate life-length of a Device Under Test (DUT). Manufacturers need to preform ATs on the prototype of the product to anticipate its reliability and lifetime. The requirements for higher reliability impose tests of DUT's materials and components in advance. ATs expose products to different stressing environments, which include Electrical Stress, Mechanical Vibration, Temperature Shock, Temperature Cycling, Humidity, and others. An AT profile consists of different parameters, which depend on the DUT, and the most common are: a type of stress, rate of change, stress extreme points. Although these tests are accelerated, they are still time consuming. Furthermore, for large and complex DUTs, the test reliability itself can be doubted due to the involved diversity and uncertainty. In this paper, different experimental methods are applied to optimize the virtual test parameters to obtain reliable results. © 2020 IEEE.
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| 3. |
- Narri, Vandana, et al.
(författare)
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Set-Membership Estimation in Shared Situational Awareness for Automated Vehicles in Occluded Scenarios
- 2021
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Ingår i: 2021 32nd IEEE Intelligent Vehicles Symposium (IV). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 385-392
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Konferensbidrag (refereegranskat)abstract
- One of the main challenges in developing autonomous transport systems based on connected and automated vehicles is the comprehension and understanding of the environment around each vehicle. In many situations, the understanding is limited to the information gathered by the sensors mounted on the ego-vehicle, and it might be severely affected by occlusion caused by other vehicles or fixed obstacles along the road. Situational awareness is the ability to perceive and comprehend a traffic situation and to predict the intent of vehicles and road users in the surrounding of the ego-vehicle. The main objective of this paper is to propose a framework for how to automatically increase the situational awareness for an automatic bus in a realistic scenario when a pedestrian behind a parked truck might decide to walk across the road. Depending on the ego-vehicle's ability to fuse information from sensors in other vehicles or in the infrastructure, shared situational awareness is developed using a set-based estimation technique that provides robust guarantees for the location of the pedestrian. A two-level information fusion architecture is adopted, where sensor measurements are fused locally, and then the corresponding estimates are shared between vehicles and units in the infrastructure. Thanks to the provided safety guarantees, it is possible to adjust the ego-vehicle speed appropriately to maintain a proper safety margin. Three scenarios of growing information complexity are considered throughout the study. Simulations show how the increased situational awareness allows the ego-vehicle to maintain a reasonable speed without sacrificing safety.
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| 4. |
- Narri, Vandana, et al.
(författare)
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Shared Situational Awareness with V2X Communication and Set-membership Estimation
- 2023
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Ingår i: 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 3335-3342
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Konferensbidrag (refereegranskat)abstract
- The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.
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| 5. |
- Söderlund, August, et al.
(författare)
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Data-Driven Reachability Analysis of Pedestrians Using Behavior Modes
- 2023
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Ingår i: 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 4025-4031
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Konferensbidrag (refereegranskat)abstract
- In this paper, we present a data-driven approach for safely predicting the future state sets of pedestrians. Previous approaches to predicting the future state sets of pedestrians either do not provide safety guarantees or are overly conservative. Moreover, an additional challenge is the selection or identification of a model that sufficiently captures the motion of pedestrians. To address these issues, this paper introduces the idea of splitting previously collected, historical pedestrian trajectories into different behavior modes for performing data-driven reachability analysis. Through this proposed approach, we are able to use data-driven reachability analysis to capture the future state sets of pedestrians, while being less conservative and still maintaining safety guarantees. Furthermore, this approach is modular and can support different approaches for behavior splitting. To illustrate the efficacy of the approach, we implement our method with a basic behavior-splitting module and evaluate the implementation on an open-source data set of real pedestrian trajectories. In this evaluation, we find that the modal reachable sets are less conservative and more descriptive of the future state sets of the pedestrian.
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