Venkata Ramani Shreya Yellapantula, K. Devika, S. Subramanian
{"title":"Effect of Packet Loss on a Connected Heavy Vehicle Collision Avoidance Algorithm","authors":"Venkata Ramani Shreya Yellapantula, K. Devika, S. Subramanian","doi":"10.1109/ICCVE45908.2019.8965207","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965207","url":null,"abstract":"Advanced Driver Assistance Systems in Heavy Commercial Road Vehicles are of increasing importance due to their high potential in reducing road accidents, where human error is the major contributor. A Vehicle-to-Vehicle communication-based Collision Avoidance Algorithm (CAA) can help in reducing these accidents by complementing the onboard sensors and applying brakes automatically upon detecting a threat. However, due to the wireless nature and dynamic topology of this communication network, packet loss is a major challenge for safety-related applications like collision avoidance. Hence, the effect of packet loss on the performance of CAA was investigated using a Hardware-in-Loop experimental platform in this paper. It was observed that the desired final spacing was maintained but, early braking was observed when the host vehicle followed the lead vehicle at close distances.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"34 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":"122491753","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}
{"title":"Yet Another Driving Simulator OpenROUTS3D: The Driving Simulator for Teleoperated Driving","authors":"S. Neumeier, Michael Höpp, Christian Facchi","doi":"10.1109/ICCVE45908.2019.8965037","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965037","url":null,"abstract":"Numerous issues on the way to autonomous vehicles have already been solved. Nevertheless, there are further problems preventing the introduction of autonomous driving features of higher SAE levels. Remote control of vehicles by human operators located in dedicated operation centers, Teleoperated Driving, can help to overcome the problems of autonomous driving. To enable functional Teleoperated Driving, existent network technology has to be utilized. These cellular networks suffer from variable performance. However, testing Teleoperated Driving and its algorithms in real-world scenarios is costly and potentially dangerous. Virtual testing is an approach to mitigate these obstacles. This paper introduces OpenROUTS3D, an open-source driving simulator initially developed for Teleoperated Driving, but expandable to various use cases.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"36 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":"126260033","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}
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}
{"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}
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}
Mohamed Berrazouane, Kailin Tong, Selim Solmaz, Martijn Kiers, Jacqueline Erhart
{"title":"Analysis and Initial Observations on Varying Penetration Rates of Automated Vehicles in Mixed Traffic Flow utilizing SUMO","authors":"Mohamed Berrazouane, Kailin Tong, Selim Solmaz, Martijn Kiers, Jacqueline Erhart","doi":"10.1109/ICCVE45908.2019.8965065","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965065","url":null,"abstract":"Understanding the effects of having automated vehicles in the future traffic scenarios is an important research topic that attracts a great deal of attention currently. The difficulty in studying this problem is the fact that real life measurement and testing of these scenarios can not be made as there are still a very small fraction of automated vehicles in the traffic. So analyzing and understanding the effects of mixed traffic requires extensive simulative analysis. In this paper we analyze this problem using real traffic data in combination with the open-source SUMO traffic simulation software. The traffic flow is modeled based on the measurement data from a section of the Austrian A2 motorway, while the effects of automated vehicles at various penetration rates is simulated and consequently some observation are made.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"18 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":"125717895","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}
{"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}
{"title":"Evaluation Framework for Network Intrusion Detection Systems for In-Vehicle CAN","authors":"G. Dupont, J. D. Hartog, S. Etalle, A. Lekidis","doi":"10.1109/ICCVE45908.2019.8965028","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965028","url":null,"abstract":"Modern vehicles are complex safety critical cyber physical systems, that are connected to the outside world, with all security implications it brings. Different network intrusion detection systems (NIDSs) proposed for the CAN bus, the predominant type of in-vehicle network, to improve security are hard to compare due to disparate evaluation methods adopted. In this paper we provide the means to compare CAN NIDSs on equal footing and evaluate the ones detailed in the literature. Based on this we observe some limitation of existing approaches and why in the CAN setting it is intrinsically difficult to distinguish benign from malicious payload. We argue that “meaning-aware” detection (a concept we define) which is challenging (but perhaps not impossible) to create for this setting.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"63 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":"129404085","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}
{"title":"Online validity monitor for vehicle dynamics models","authors":"Stephan Rhode, J. Keler","doi":"10.1109/ICCVE45908.2019.8965162","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965162","url":null,"abstract":"This paper presents a method to measure the degree of validity of vehicle dynamics models during run time in a computational efficient way. The method is called online validity monitor and is constructed as follows. First, the characteristic validation error distribution of a vehicle dynamics model is stored. Second, during run time, an error distribution is recorded via a circular buffer. Third, the distance between stored and run time error distribution is taken as a measure to detect if the model operates in its validated domain.","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":"114107791","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}
{"title":"Over-the-air emulation of a two-path model for automotive LTE system performance testing","authors":"P. Berlt, C. Bornkessel, M. Hein","doi":"10.1109/ICCVE45908.2019.8965223","DOIUrl":"https://doi.org/10.1109/ICCVE45908.2019.8965223","url":null,"abstract":"Over-the-air testing is, in combination with the concept of radio channel emulation, a feasible solution for the evaluation of automotive radio systems during every stage of development. Suitable and representative test scenarios need to be investigated, since it is impossible to completely test the multitude of potential radio environments, and real drive tests are very expensive, time consuming, and hardly reproducible. This paper proposes a basic two-path propagation model as a basis for performance testing because of its relevance in wireless communications and the potential to adjust worst-case transmission conditions. The model has been successfully implemented in our multi-purpose test facility. The implementation has been verified by interference measurements in the signal domain at RF level. Measured values compare favourably with expectation. Application oriented verification has been achieved by creating a functional LTE link in our shielded anechoic chamber and has been used to conduct end-to-end data throughput tests. The measured data throughput follows the expected interference pattern.","PeriodicalId":384049,"journal":{"name":"2019 IEEE International Conference on Connected Vehicles and Expo (ICCVE)","volume":"46 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":"128433616","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}