2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)最新文献_第7页

Yet Another Driving Simulator OpenROUTS3D: The Driving Simulator for Teleoperated Driving 另一个驾驶模拟器OpenROUTS3D:远程操作驾驶的驾驶模拟器

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965037

S. Neumeier, Michael Höpp, Christian Facchi

引用次数: 9

Safety & Security in the Context of Autonomous Driving 自动驾驶环境下的安全与保障

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965092

Manuel Koschuch, Walter Sebron, Z. Szalay, Á. Török, Hans Tschürtz, I. Wahl

引用次数: 16

Effect of Packet Loss on a Connected Heavy Vehicle Collision Avoidance Algorithm 丢包对连网重型车辆避碰算法的影响

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965207

Venkata Ramani Shreya Yellapantula, K. Devika, S. Subramanian

引用次数: 0

TRUDI: Testing Environment for Vehicular Applications Running with Devices in the Loop TRUDI:在循环中运行设备的车辆应用测试环境

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965152

Michele Menarini, Pasquale Marrancone, Giammarco Cecchini, A. Bazzi, B. Masini, A. Zanella

{"title":"TRUDI: Testing Environment for Vehicular Applications Running with Devices in the Loop","authors":"Michele Menarini, Pasquale Marrancone, Giammarco Cecchini, A. Bazzi, B. Masini, A. Zanella","doi":"10.1109/ICCVE45908.2019.8965152","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965152","url":null,"abstract":"Vehicles will be equipped with short-range wireless technologies with the aim to improve safety and traffic efficiency. Novel applications are thus being implemented for future cars and trucks, and one of the main issues is how to conduct tests and optimizations in an effective way, limiting the need to perform costly and time consuming experiments on the road. To cope with this issue, we have implemented a simulator with hardware-in-the-loop (HIL), called TRUDI, where the hardware and the implemented applications are tested in the laboratory by injecting virtual positions of the vehicles with the support of a traffic simulator. TRUDI acts as a man-in-the-middle between the communication module and the application itself, making it possible to perform tests with the real devices and providing as an output a system ready for the road. Using TRUDI, it is possible to check the application with a few vehicles and real wireless devices or many vehicles using simulated communication components before moving to experiments on the road. As an example use case, an application for the intersection management is presented, where the driver is warned of the presence and speed of other vehicles approaching the same junction.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132091446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12

A Model-Free Algorithm to Safely Approach the Handling Limit of an Autonomous Racecar 一种安全逼近自主赛车操纵极限的无模型算法

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965218

A. Wischnewski, Johannes Betz, B. Lohmann

{"title":"A Model-Free Algorithm to Safely Approach the Handling Limit of an Autonomous Racecar","authors":"A. Wischnewski, Johannes Betz, B. Lohmann","doi":"10.1109/ICCVE45908.2019.8965218","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965218","url":null,"abstract":"One of the key aspects in racing is the ability of the driver to find the handling limits of the vehicle to minimize the resulting lap time. Many approaches for raceline optimization assume the tire-road friction coefficient to be known. However, this neglects the fact that the ability of the system to realize such a race trajectory depends on complex interdependencies between the online trajectory planner, the control systems and the non-modelled uncertainties. In general, a high quality control system can approach the physical limit more reliable, as it applies less corrective actions. We present a model-free learning method to find the minimum achievable lap-time for a given controller using online adaption of a scale factor for the maximum longitudinal and lateral accelerations in the online trajectory planner. In contrast to existing concepts, our approach can be applied as an extension to already available planning and control algorithms instead of replacing them. We demonstrate reliable and safe operation for different vehicle setups in simulation and demonstrate that the algorithm works successfully on a full-size racecar.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132370580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 15

Preliminary Considerations for a Cooperative Intelligent Transport System Cybersecurity Reference Architecture 协作式智能交通系统网络安全参考体系结构的初步思考

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965116

Christoph Schmittner, Sebastian Chlup, Arndt Bonitz, Martin Latzenhofer, M. Hofer, Carina Kloibhofer, Thomas Raab, Edvin Spahovic, Thomas Doms

{"title":"Preliminary Considerations for a Cooperative Intelligent Transport System Cybersecurity Reference Architecture","authors":"Christoph Schmittner, Sebastian Chlup, Arndt Bonitz, Martin Latzenhofer, M. Hofer, Carina Kloibhofer, Thomas Raab, Edvin Spahovic, Thomas Doms","doi":"10.1109/ICCVE45908.2019.8965116","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965116","url":null,"abstract":"Cyber security and privacy are major challenges for interconnected automatic driving cars which rely on confidentiality, integrity, availability, authenticity, accountability as well as privacy of a cooperative intelligent transport system (C-ITS). The cars require detailed data about the environment on different levels to generate a comprehensive overview of the current traffic situation in real time to ensure their safe and secure movement. The availability, integrity, authenticity and accountability of data and its processing are a prerequisite for automated and interconnected driving. Additionally, confidentiality and privacy are main requirements for using C-ITS services. Cyber security is not only necessary for an efficient traffic management. Co-operative functions and coordinative autonomy is mandatory, since successful intentional attacks on a C-ITS in fact threaten human lives. There is a fundamental need for a comprehensive harmonization of safety and security aspects from the infrastructure provider's perspective to ensure awareness and trust - and not solely from an original equipment manufacturer's (OEM) view. Especially cyber security is essential to make these cooperative traffic structures and autonomous interconnected driving technologies confidently available to society. In this paper, the approach for component identification, scoping, use case development, and the applied risk management method as preliminary work for the development of a comprehensive C-ITS cybersecurity reference framework is discussed. These steps are part of a currently ongoing research project.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"242 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133492004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Deep Grid Fusion of Feature-Level Sensor Data with Convolutional Neural Networks 基于卷积神经网络的特征级传感器数据深度网格融合

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965213

G. Balázs, W. Stechele

{"title":"Deep Grid Fusion of Feature-Level Sensor Data with Convolutional Neural Networks","authors":"G. Balázs, W. Stechele","doi":"10.1109/ICCVE45908.2019.8965213","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965213","url":null,"abstract":"This paper investigates neural network architectures that fuse feature-level data of radar and vision sensors in order to improve automotive environment perception for advanced driver assistance systems. Fusion is performed with occupancy grids, which incorporate sensor-specific information mapped from their individual detection lists. The fusion step is evaluated on three types of neural networks: (1) fully convolutional, (2) auto-encoder and (3) auto-encoder with skipped connections. These networks are trained to fuse radar and camera occupancy grids with the ground truth obtained from lidar scans. A detailed analysis of network architectures and parameters is performed. Results are compared to classical Bayesian occupancy fusion on typical evaluation metrics for pixel-wise classification tasks, like intersection over union and pixel accuracy. This paper shows that it is possible to perform grid fusion of feature-level sensor data with the proposed system architecture. Especially the auto-encoder architectures show significant improvements in evaluation metrics compared to classical Bayesian fusion method.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124805992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Evaluation Framework for Network Intrusion Detection Systems for In-Vehicle CAN 车载CAN网络入侵检测系统评估框架

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965028

G. Dupont, J. D. Hartog, S. Etalle, A. Lekidis

引用次数: 8

[Front matter] (前页)

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/iccve45908.2019.8965015

引用次数: 0

A Fault-Tolerant Controller Manager for Platooning Simulation 面向队列仿真的容错控制器管理器

2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE) Pub Date : 2019-11-01 DOI: 10.1109/ICCVE45908.2019.8965220

S. Hasan, Muhammed Abdullah Al Ahad, Irfan Šljivo, A. Balador, Svetlana Girs, Elena Lisova

{"title":"A Fault-Tolerant Controller Manager for Platooning Simulation","authors":"S. Hasan, Muhammed Abdullah Al Ahad, Irfan Šljivo, A. Balador, Svetlana Girs, Elena Lisova","doi":"10.1109/ICCVE45908.2019.8965220","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965220","url":null,"abstract":"Recent development in wireless technology enabling communication between vehicles led to introduction of the concept of Cooperative Adaptive Cruise Control (CACC), which uses wireless vehicle-to-vehicle communication and aims at string stable behavior in a platoon of vehicles. Degradation cascades have been proposed as a way to maintain a certain level of the system functionality in presence of failures. Such degradation behaviour is usually controlled by a runtime/state manager that performs fault detection and transitions the system into states where it will remain acceptably safe. In this paper, we propose a dynamic controller manager that focuses on both safety and performance of the system. In particular, it monitors the channel quality within the platoon and reacts by degrading platoon performance in presence of communication failures, or upgrading the performance when the communication quality is high enough. The reaction can include, e.g., adjusting the inter-vehicle distance or switching to another suitable platoon controller to prevent collisions. We focus on the functional and operational safety and evaluate the performance of the dynamic controller manager under different scenarios and settings in simulation experiments to demonstrate that it can avoid rear-end collisions in a platoon, continue platooning operation even in dense traffic scenarios where the state-of-the-art controllers fail to do so.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130903665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5