Browse Topic: Automated vehicles

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System Configuration and Validation of Hybrid-Based Six Degrees of Freedom Motion Platform for Vehicle Dynamic Testing2025-01-502103/27/2025
Scenario-based testing has become one of the important elements to evaluate the performance of automated vehicle systems before deploying on actual road. There are several approaches that can be used to conduct scenario-based testing via simulation approach. One of the important aspects in scenario-based safety testing is the driver-in-the-loop (DiL) simulation where it involves integration of hardware and human interaction. Therefore, motion platform-based vehicle driving simulators are commonly used for the DiL simulation for scenario-based testing. Generally, a high degree of freedom driving simulator is used for scenario-based testing such as 6 degrees of freedom (DoF) to achieve high accuracy to represent an actual vehicle response. Moreover, most of the motion platforms are designed using hexapod configuration, which also contributes to 6-DoF. However, this type of design requires large space to conduct the testing because the field of motion (FoM) is high in three axes and high
Kleolee, KahOnn, Aparow, Vimal Rau, Cheok, Jun Hong, de Boer, Niels, Jamaluddin, Hishamuddin
Technical Paper
Feasibility of Road Longitudinal Profiles for Automated Vehicles Based on Vehicle Dynamics2025-01-715003/19/2025
With the development and maturity of new generation digital technologies such as artificial intelligence, Internet of Things, and 5G mobile communication, their integration with physical products is becoming increasingly seamless. Automobiles serve as a prime example in this regard. In recent years, automated vehicle (AV) technologies have emerged as a prominent focal point, witnessing an escalating acceptance in the market and a growing number of self-driving vehicles on the roads, existing roads are primarily designed for traditional human-driven vehicles (HVs). Due to the differences in perception between automated systems and human drivers, it is essential to assess AVs' feasibility to current road infrastructure. This paper analyzes the safety and comfort of automated vehicles equipped with adaptive cruise control systems (ACC-AVs) on longitudinal road profiles from the perspective of vehicle dynamics. Firstly, a co-simulation platform integrating PreScan, CarSim, and Simulink
Li, Zezhou, Cai, Mingmao, Gu, Tianqi, Yu, Bin
Technical Paper
Bosch consolidates computing talent in new mobility division21AUTP03_1101/27/2025
Bosch announced on January 7 during its CES 2021 conference event that it has created a new division labeled Cross-Domain Computing Solutions (CDCC). The CDCC division pools 17,000 of Bosch's automotive software and electronics associates to create a single source for software-intensive systems for future vehicle architectures. According to Bosch, the market for such systems is expected to grow 15% annually between now and 2030, and the organizational move is designed to extend the supplier's market-leading position. Bosch has assigned software, electrical and electronics engineers from the areas of driver assistance, automated driving, car multimedia, powertrain and body electronics to the new unit. “Bosch is an automotive electronics pioneer. Moreover, for quite some time now, it has also been a software company,” said Dr. Stefan Hartung, chairman of Bosch's Mobility Solutions business sector. “Only a company with wide-ranging electronics and software expertise will be in a position
Seredynski, Paul
Magazine Article
SCENE ADJUSTMENT TOOLS FOR AUTONOMY SIMULATION2024-01-400511/15/2024
ABSTRACT This paper introduces a set of Simulation Scene Adjustment Tools which allow users to adjust relevant geo-environmental parameters to create an unlimited number of new scenes that are based on, and share relevant characteristics with, the original. We also introduce a set of novel quantitative metrics that compare the simulation scenes from the perspective of an automated vehicle system. These tools are useful for automated vehicle development and testing to alleviate the problem of having only a few simulation scenes with which to prove out the system. Citation: J. Auchter, R. Brothers, D. Beer, “Scene Adjustment Tools for Autonomy Simulation,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 15-17, 2023.
Auchter, Joseph, Brothers, Robert, Beer, Daniel
Technical Paper
IMPLEMENTATION OF THE 4D/RCS ARCHITECTURE WITHIN THE SOUTHWEST SAFE TRANSPORT INITIATIVE2024-01-308611/15/2024
ABSTRACT Over time, the National Institute of Standards and Technology (NIST) has refined the 4Dimension / Real-time Control System (4D/RCS) architecture for use in Unmanned Ground Vehicles (UGVs). This architecture, when applied to a fully autonomous vehicle designed for missions in urban environments, can greatly assist in the process of saving time and lives by creating a more intelligent vehicle that acts in a safer and more efficient manner. Southwest Research Institute (SwRI®) has undertaken the Southwest Safe Transport Initiative (SSTI) aimed at investigating the development and commercialization of vehicle autonomy as well as vehicle-based telemetry systems to improve active safety systems and autonomy. This paper will discuss the implementation of the 4D/RCS architecture to the SSTI autonomous vehicle, a 2006 Ford Explorer.
McWilliams, George, Brown, Michael
Technical Paper
Data Dictionary for Quantities Used in Cyber Physical Systems (Enhanced License)AS6969_DA (Current)07/29/2024
Enhanced License for Data Dictionary for Quantities Used in Cyber Physical Systems (AS6969) allowing for greater usage as outlined in the terms of the Enhanced License. Terms can be reviewed prior to purchase once item is added to the cart. Data Dictionary for Quantities Used in Cyber Physical Systems (AS6969) This data dictionary provides a mathematically coherent set of definitions for quantity types used in data models for unmanned systems. In this data dictionary, a quantity is defined as a property of a phenomenon, substance, or body whose value has magnitude.
AS-4UCS Unmanned Systems Control Segment Architecture
Supplement
Vehicle Experience and Human Interaction: Vol. 1EPRCOMPV17202305/03/2024
Connected and autonomous vehicles (CAVs) and their productization are a major focus of the automotive and mobility industries as a whole. However, despite significant investments in this technology, CAVs are still at risk of collisions, particularly in unforeseen circumstances or “edge cases.” It is also critical to ensure that redundant environmental data are available to provide additional information for the autonomous driving software stack in case of emergencies. Additionally, vehicle-to-everything (V2X) technologies can be included in discussions on safer autonomous driving design. Recently, there has been a slight increase in interest in the use of responder-to-vehicle (R2V) technology for emergency vehicles, such as ambulances, fire trucks, and police cars. R2V technology allows for the exchange of information between different types of responder vehicles, including CAVs. It can be used in collision avoidance or emergency situations involving CAV responder vehicles. The
Abdul Hamid, Umar Zakir, Roth, Christian, Nickerson, Jeffrey, Lyytinen, Kalle, King, John Leslie
Research Book
Implications of Off-road Automation for On-road Automated Driving SystemsEPR202302912/12/2023
Automated vehicles, in the form we see today, started off-road. Ideas, technologies, and engineers came from agriculture, aerospace, and other off-road domains. While there are cases when only on-road experience will provide the necessary learning to advance automated driving systems, there is much relevant activity in off-road domains that receives less attention. Implications of Off-road Automation for On-road Automated Driving Systems argues that one way to accelerate on-road ADS development is to look at similar experiences off-road. There are plenty of people who see this connection, but there is no formalized system for exchanging knowledge. Click here to access the full SAE EDGETM Research Report portfolio.
Research Report
Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System2023-01-121806/26/2023
On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, the proposed article will present a new control approach for modern steer-by-wire systems. The novel approach consists of a true multivariable control for the driver´s steering torque and the rack position simultaneously using the requested torques of the downstream (SRU) and upstream (SFU) motor as control variables. Here, the plant model is a detailed model of a steer-by-wire system with nine degrees of freedom (see Fig.1). For the control design, an optimal reduced model is derived. The reduced plant model is linearized and augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the complete feeling generator computing the requested steering torque. The feeling generator consists of a rack force feedback, an active damping and an active steering wheel return. For this augmented model, a
Irmer, Marcus, Degen, René, Nüßgen, Alexander, Thomas PhD, Karin, Ruschitzka PhD, Margot, Henrichfreise PhD, Hermann
Technical Paper
EDITORIAL: Platooning still promising for trucking22TOFHP08_0408/01/2022
There is “no business case” for platooning, or the electronic coupling of two or more trucks in close formation. That was the assessment of Daimler Trucks in 2019 when it decided to pause its years-long platooning development activities. The OEM determined that for U.S. long-distance applications, where conditions were expected to be ideal, the fuel savings were less than stellar and diminished further when the platoon got “disconnected” and trucks had to accelerate to reconnect. Instead, the company turned its full attention to developing highly automated (SAE Level 4) trucks. The fate of Peloton Technology, a company all-in on platooning but that ceased operations in 2021, is another indicator that perhaps platooning's promise has faded.
Gehm, Ryan
Magazine Article
Real-Sim Interface: Enabling Multi-resolution Simulation and X-in-the-Loop Development for Connected and Automated Vehicles12-05-04-002606/27/2022
Connected and automated vehicles (CAVs) can bring safety, mobility, and energy benefits to transportation systems. Ideally, CAV applications would be fully evaluated and validated prior to real-world implementation. However, many technical challenges in both software and hardware hinder the process. To comprehensively evaluate all aspects of CAV applications, an integrated evaluation environment is needed with various simulation tools from different domains. In the current literature, there lacks a well-developed interface to enable multi-resolution simulation of vehicle, traffic, virtual environment, and hardware-in-the-loop (HIL) simulation. In this work, a modular and flexible interface is developed to enable multi-resolution vehicle and traffic co-simulation for CAV applications. This interface is built upon Oak Ridge National Laboratory’s (ORNL’s) Real-Sim approach, can support various simulation tools and real-time X-in-the-loop (XIL) simulations, and is based on network
Shao, Yunli, Deter, Dean, Cook, Adian, Wang, Chieh (Ross), Thompson, Bradley, Perry, Nolan
Journal Article
Toward an Automated Scenario-Based X-in-the-Loop Testing Framework for Connected and Automated Vehicles12-05-04-003006/27/2022
Emerging technologies for connected and automated vehicles (CAVs) are rapidly advancing, and there is an incremental adoption of partial automation systems in existing vehicles. Nevertheless, there are still significant barriers before fully or highly automated vehicles can enter mass production and appear on public roads. These are not only associated with the need to ensure their safe and efficient operation but also with cost and delivery time constraints. A key challenge lies in the testing and validation (T&V) requirements of CAVs, which are expected to be significantly higher than those of traditional and partially automated vehicles. Promising methodologies that can be used toward this goal are scenario-based (SBT) and X-in-the-Loop (XiL) testing. At the same time, complex techniques such as co-simulation and mixed-reality simulation could also provide significant benefits. Nevertheless, the benefits of individual solutions are likely to be significantly smaller, if considered
Kyriakopoulos, Ioannis, Jaworski, Pawel, Edwards, Tim
Journal Article
Dynamic Vehicle-in-the-Loop: A Novel Method for Testing Automated Driving Functions12-05-04-002906/23/2022
In automated driving functions (ADF) testing, novel methods have been developed to allow the combination of hardware and simulation to ensure safety in usage even at an early stage of development. This article proposes an architecture to integrate an entire test vehicle—denominated Dynamic Vehicle-in-the-Loop (DynViL)—in a virtual environment. This approach enables the interaction of a real vehicle with virtual traffic participants. The vehicle is physically tested on an empty track, but connected to the CARLA simulator, in which virtual driving scenarios are created. The simulated environment is transmitted to the vehicle driving function which controls the real vehicle in reaction to the virtual objects perceived in simulation. Furthermore, the performance of the DynViL in different test scenarios is evaluated. The results show that the reproducibility of the tests with the DynViL is satisfactory. Furthermore, the results indicate that the deviation between simulation and DynViL
Drechsler, Maikol Funk, Sharma, Varun, Reway, Fabio, Schütz, Christoph, Huber, Werner
Journal Article
The Challenges of Vehicle DecarbonizationEPR2022SE104/27/2022
A narrow focus on electrification and elimination of tailpipe emissions is unlikely to achieve decarbonization objectives. Renewable power generation is unlikely to keep up with increased demand for electricity. A focus on tailpipe emissions ignores the significant particulate pollution that “zero emission” vehicles still cause. It is therefore vital that energy efficiency is improved. Active travel is the key to green economic growth, clean cities, and unlocking the energy saving potential of public transport.{"bold":"The Challenges of Vehicle Decarbonization","content":"reviews the urgent need to prioritize active travel infrastructure, create compelling mass-market cycling options, and switch to hybrid powertrains and catenary electrification\n for long-haul heavy trucks. The report also warns of the potential increase in miles travelled with the advent of personal automated vehicles as well as the pitfalls of fossil-fuel derived hydrogen power."}{"uri":[{"xlink:href":"https
Muelaner, Jody Emlyn
Research Report
Infrastructure-Based LiDAR Monitoring for Assessing Automated Driving Safety2022-01-008603/29/2022
The successful deployment of automated vehicles (AVs) could include the use of off-board sensors for assessments to be made of AV operational safety. Many intersections and roadways have monocular cameras used primarily for traffic monitoring; however, monocular cameras may not be sufficient to allow for useful AV operational safety assessments to be made in all operational design domains (ODDs) such as low ambient light and inclement weather conditions. Additional sensor modalities such as Light Detecting And Ranging (LiDAR) sensors allow for a wider range of scenarios to be accommodated, but may also provide improved measurements of the Operational Safety Assessment (OSA) metrics previously introduced by the Institute of Automated Mobility (IAM). Building on earlier work from the IAM in creating an infrastructure-based sensor system to evaluate the OSA metrics in real-world scenarios, this paper presents an approach for real-time localization and velocity estimation for AVs using a
Srinivasan, Anshuman, Mahartayasa, Yoga, Jammula, Varun Chandra, lu, Duo, Como, Steven, Wishart, Jeffrey, Elli, Maria, Yang, Yezhou, Yu, Hongbin
Technical Paper
Development of an Integrated Co-Simulation Environment to Model and Test Advanced DAT Features Utilizing MIL and HIL2022-01-010303/29/2022
The widespread deployment of Connected and Automated Vehicles (CAVs) in the future will bring major changes in the automotive industry and the vehicle features it will offer. Currently, technology and infrastructure are not ready to test and develop CAV features fully in real traffic. Simulators are becoming popular to develop CAVs and assisted automated driving features for all levels of automation to overcome the infrastructural needs of the automotive industry. Simulators allow researchers to design CAV algorithms safely, quickly, and efficiently, and test these algorithms for various metrics. A co-simulation environment, where a vehicle simulator like CarSim and a traffic simulator like Simulation of Urban Mobility (SUMO) feed into each other, is an invaluable tool, allowing CAV features to be tested in a realistic traffic environment. This paper presents a co-simulation environment, where the vehicle simulator CarSim and the traffic simulator SUMO share data. The paper follows the
Kavas-Torris, Ozgenur, cai, Xiaolin, Joshi, Adit, Mittal, Archak, Djavadian, Shadi, Fishelson, James
Technical Paper
High-power Synchronous Rectification Drive Power System Based on PID Control2022-01-088203/29/2022
The driving power system can be combined with lasers, lights, etc., and applied to automobiles to achieve various functions. Under the general trend of the development of intelligent vehicles, people have higher and higher requirements for the accuracy and power of various equipment. Therefore, it is extremely important to study and design a high-power drive system in this paper, so as to ensure a stable output of a certain value of current. The system is composed of power supply, load, secondary power supply and control chip. The secondary power supply adopts BUCK type circuit and cooperates with synchronous rectifier chip. The control part uses two PID control algorithms. After the MATLAB and Multism simulations, the experimental part is expanded, and the results show that the linearity is only 0.82%, the return error tends to zero, and the maximum accuracy error is 0.02V, which basically meets the requirements and has a certain practicability.
Wang, Haoyu
Technical Paper
Demonstration of energy consumption reduction in class 8 trucks using eco-driving algorithm based on on-road testing2022-01-015703/29/2022
Vehicle to Everything (V2X) communication has enabled on-board access to the information from other vehicles and infrastructure. This information, traditionally used for safety applications, is increasingly being used for improving fuel economy of the vehicles [1, 2, 3, 4, 5]. This work aims at demonstrating energy consumption reduction in heavy/medium duty vehicles using the eco-driving algorithm. The algorithm is enabled by V2X communication and uses data contained in basic safety messages (BSMs) and signal phase and timing (SPaT) to generate an energy-efficient velocity trajectory for the vehicle to follow. A ~25.7 km (16-mi) urban corridor in Bexar County, Texas, was modeled in a microscopic traffic simulation package and calibrated to match real-world conditions. For the trucks using this algorithm, a nominal reduction of 7% in energy consumption and 6% in trip time was observed in simulation. This was validated by on-track testing of a pair of velocity profiles. The track testing
Bhagdikar, Piyush, Gankov, Stanislav, Frazier, Cole, Rengarajan, Sankar, Warden, Rebecca, Brown, Michael, Sarlashkar, Jayant
Technical Paper
Modern Product Development Platform for Living Products in Perpetual Systems2022-01-026103/29/2022
In 1930, John Maynard Keynes predicted, that due to software and automation, 15-hour work weeks would be a reality by the end of the century. While that envisioned “utopia” has not been realized, Mr. Keynes did have the radical vision to imagine a pretty radical low code highly automated future - one to which the future of software in mobility arguably depends on. So, what went wrong? Well, its not about as much about what went wrong but about how adoption is taking place and how it needs to change. In any software development, no matter where in history, as soon as software testing became a hot topic, automation tools started springing up and then "selective parts" that were iterative and time-consuming in the software were automated away. This begs several questions. The first and obvious, why automate these parts - and the second - whether software developers are making themselves obsolete by building automation tools. If more and more machines can write code for themselves, what do
Minarcin, Monika, Rush, David
Technical Paper
How to Share Benefits of Smart Transportation and Mobility: A Study Based on Cooperative Game Theory2022-01-016203/29/2022
Shared mobility will become an important part in the future smart transportation and contribute to sustainable development. However, recently a large number of pioneers in this market have failed in making profits, and have to declare bankrupt or give up this promising business. One main cause is that it is difficult to find a method to allocate the profits to all the partners reasonably. In other words, there is still no effective business model in smart mobility. This study discusses cooperation among all stakeholders in smart mobility business alliance based on the theory of population ecology, which include four types of participants. The leaders are the enterprises who offer business platforms for the other players. The enablers include OEMs, hardware and software suppliers who enable smart mobility with intelligent vehicle products and technologies. The supporters can provide infrastructure and market channels. And the parasites are able to create added value with services and
Kuang, Xu
Technical Paper
Identification of Road Adhesion Coefficient Based on Neural Network and Kalman Filter2022-01-110303/29/2022
As an important input parameter of intelligent vehicle active safety technology, road adhesion coefficient is of great significance in autonomous collision avoidance, emergency braking and collision avoidance, and variable adhesion road motion control. Traditional recognition methods based on vehicle dynamics require large data volume and low solution accuracy, while recognition methods based on optical sensors have strict requirements on the working environment, poor adaptability under complex working conditions, and high cost. This paper proposes an adhesion coefficient recognition method based on Elman neural network and Kalman filter. By establishing a four-degree-of-freedom vehicle dynamics model, the dynamic parameters such as yaw rate, longitudinal velocity, lateral velocity, and angular velocity of each wheel related to the road adhesion coefficient are analyzed as the input of the neural network model. Carsim/Simulink co-simulation is used to establish a data set, the Kalman
Lu, Xin
Technical Paper
HD-Map Based Ground Truth to Test Automated Vehicles 2022-01-010203/29/2022
Over the past decade there has been significant development in Automated Driving (AD) with continuous evolution towards higher levels of automation. Higher levels of autonomy increase the vehicle Dynamic Driving Task (DDT) responsibility under certain predefined Operational Design Domains (in SAE level 3, 4) to unlimited ODD (in SAE level 5). The AD system should not only be sophisticated enough to be operable at any given condition but also be reliable and safe. Hence, there is a need for Automated Vehicles (AV) to undergo extensive open road testing to traverse a wide variety of roadway features and challenging real-world scenarios. There is a serious need for accurate ground truth to locate the various roadway features which helps in evaluating the perception performance of the AV at any given condition. The results from open road testing provide a feedback loop to achieve a mature AD system. This paper presents an approach of using High Definition (HD) map data of various roadway
Martens, Joshua, Zhong, Ren, Yedida, Siddhartha, Alzu'bi, Hamzeh, Tasky, Tom, Sirkar, Deshna
Technical Paper
Performance Evaluation of an Autonomous Vehicle Using Resilience Engineering2022-01-006903/29/2022
Standard operation of autonomous vehicles on public roads results in significant exposure to high levels of risk. There is a significant need to develop metrics that evaluate safety of an automated system without reliance on the rate of vehicle accidents and fatalities compared to the number of miles driven; a proactive rather than a reactive metric is needed. Resilience engineering is a new paradigm for safety management that focuses on evaluating complex systems and their interaction with the environment. This paper presents the overall methodology of resilience engineering and the resilience assessment grid (RAG) as an evaluation tool to measure autonomous systems' resilience. This assessment tool was used to evaluate the path tracking capabilities of an autonomous vehicle and measure the ability of the control subsystem to respond. A Pure Pursuit controller was developed and utilized as the path tracking control algorithm, and the Carla simulator was used to implement the algorithm
Fanas Rojas, Johan, Brown, Nicolas, Rupp, Jeff, Bradley, Thomas, Asher, Zachary D
Technical Paper
The missing link: Developing a safety case for perception components in automated driving2022-01-098403/29/2022
Safety assurance is a central concern for the development and societal acceptance of automated driving (AD) systems. Perception is a key aspect of AD that relies heavily on Machine Learning (ML). Despite the known challenges with the safety assurance of ML-based components, proposals have recently emerged for unit-level safety cases addressing these components. Unfortunately, AD safety cases express safety requirements at the system-level and these efforts are missing the critical linking argument connecting safety requirements at the system-level to component performance requirements at the unit-level. In this paper, we propose a generic template for such a linking argument specifically tailored for perception components. The template takes a deductive and formal approach to define strong traceability between levels. We demonstrate the applicability of the template with a detailed case study and discuss its use as a tool to support incremental development of perception components.
Salay, Rick, Czarnecki, Krzysztof, Kuwajima, Hiroshi, Yasuoka, Hirotoshi, Abdelzad, Vahdat, Huang, Chengjie, Kahn, Maximilian, Nguyen, Van Duong, Nakae, Toshihiro
Technical Paper
Cooperative game approach to merging sequence and optimal trajectory planning of connected and automated vehicles at unsignalized intersections2022-01-034503/29/2022
Connected and automated vehicles (CAVs) can improve traffic efficiency and reduce fuel consumption. This paper proposes a cooperative game approach to merging sequence and optimal trajectory planning of CAVs at unsignalized intersections. The trajectory of the vehicles in the control zone is optimized by the Pontryagin minimum principle. The vehicle's transit time, fuel consumption, and passenger comfort are considered to construct the joint cost function, completing the optimal trajectory planning to minimize the joint cost function. Analyzing the different states between the two CAVs at the intersection to calculate the minimum safety interval. The cooperative game approach to merging sequence aims to minimize the global cost and the merging sequence of CAVs is dynamically adjusted according to the gaming result. The multi-player games are decomposed into two-player games, to realize the goal of the minimal global cost, and improve the calculation efficiency. Compared with the first
Wang, Zihao, Duan, Yupeng, Wu, Jinglai, Zhang, Yunqing
Technical Paper
Driving Behaviour Analysis Software for Data-Driven Path Planning Functionalities for Automated Vehicles2022-01-025103/29/2022
Autonomous driving is currently one of the most challenging Artificial Intelligence (AI) problems as it requires combination of state-of-the-art solutions in multiple areas including computer vision, sensor fusion, control theory and software engineering. Deep learning has been pivotal to solving some of these problems, especially in computer vision. This enabled some autonomous vehicle companies started leveraging the benefits of deep learning for creating smooth, natural, human-like motion planning systems. In particular, the plethora of driving data captured from modern cars is a key enabler for training data-driven path planning systems. , Developing deep learning-powered systems relies heavily on big and high-quality data required for training of the models, in which the intrinsic statistics of the data that the model is trained on can result in different agent behavior in different scenarios. To ensure safe and comfortable limitations to the behavioral spectrum of the intelligent
SONGUR, NOYAN, SOUFLAS, IOANNIS
Technical Paper
A vehicles distance control system based on vehicle-road cooperation for road-slippery condition judgment2022-01-008503/29/2022
With the development of intelligent transportation system and the rapid development of vehicle-road cooperation technology, intelligent vehicles have gradually become the mainstream. When bad weather such as rain and snow occurs, the tire utilization adhesion coefficient of an intelligent vehicle decreases and the braking distance increases. If the intelligent vehicle can’t perceive and adjust to current road conditions in time, rear-end collision can happen. Therefore, the slippery road condition perception system is required to assist intelligent vehicles to perceive the road condition in time. However, the existing road condition perception system mostly works independently, which brings incoherent road-condition information from Road-Side to Vehicle-Side. As a solution, this paper designs an integrated road-slippery condition recognition system based on vehicle-road cooperative. Firstly, a pre-trained road-slippery condition recognition model with modified threshold is built based
Yang, Ruolin, Xiong, Lu, Leng, Bo, Li, Zhuoren, Zeng, Dequan
Technical Paper
The Effect of Pre-crash Seat Rotation with and without Feet Support in Highly Automated Vehicle Rear-end Crash2022-01-104603/29/2022
Automotive industry aims at reaching higher levels of driving automation as described in SAE J3016TM. From the perspective of occupant safety, an automated driving system (ADS) shall provide safer conditions for highly automated vehicle (HAV) users compared to standard vehicles since the human error is excluded. In following decades, however, one can expect the mixed fleet of both standard and automated vehicles on roads. Therefore, collision between manually driven cars and HAVs are to be expected. For instance, a research’s result in 2019 showed that 60% of autonomous vehicles crashes was rear-ended. At the same time, future HAVs are mostly considered with non-standard seating configurations. That is, HAVs’ occupants access more room in the vehicle which allows them to rotate their seats to have comfortable positions. This brings a challenging topics for the safety of HAVs’ occupants considering various impact directions. This work aims to address this issue using tools of numerical
Talimian, Abbas, Vychytil, Jan
Technical Paper
Stability Analysis of Motion Control System of Intelligent Vehicle Systems2022-01-009803/29/2022
This paper deals with stability of motion and its criteria for tracking control of intelligent vehicle systems. It deals with general control structure and specification of an optimum range of predefined control parameters for accurate tracking of these vehicle systems. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. This model is further utilized in deriving a linear model that is used to do this stability analysis. Path tracking of the AGV is attained by controlling the position and orientation errors about a predefined trajectory, which is accomplished by modifying the steering input signal on the basis of error feedbacks to the controller. Employment of various stability criteria and other constraints such as applying the physical limits of the vehicle to the controlled system narrows down the range of control parameters, within which the controlled system would remain stable. Experimental results demonstrating the performance of
Kuttolamadom, Mathew, Mehrabi, Mostafa
Technical Paper
Evaluation of Operational Safety Assessment (OSA) Metrics for Automated Vehicles Using Real-World Data 2022-01-006303/29/2022
Assurance of the operational safety of automated vehicles (AVs) is crucial to enable commercialization and deployment on public roads. The operational safety must be quantified without ambiguity using well-defined metrics. Several efforts are in place to establish an appropriate set of metrics that can quantify the operational safety of AVs in a technology-neutral way, including the Operational Safety Assessment (OSA) metrics proposed by the Institute of Automated Mobility (IAM). The focus of this work is to compute real-world measurements of the relevant safety envelope OSA metrics in car-following scenarios. This allows for an analysis of the impact of different parameters and thresholds and for an evaluation of the individual usefulness of the safety envelope OSA metrics. The current work complements prior IAM work involving evaluating the safety envelope OSA metrics in car-following scenarios in simulation. Video data were collected from infrastructure-based cameras at a traffic
Jammula, Varun Chandra, Como, Steven, Wishart, Jeffrey, Elli, Maria Soledad, Yang, Yezhou
Technical Paper
Quantifying System Level Impact of Connected and Automated Vehicles in an Urban Corridor2022-01-017303/29/2022
Numerous studies have demonstrated significant energy reduction for an ego vehicle by up to 20% leveraging Vehicle-to-Everything (V2X) technologies [1, 2, 3, 4]. Some studies have also analyzed the impact of such vehicles on the energy consumption of other vehicles in a suburban or a highway corridor [5, 6]. Southwest Research Institute (SwRI), in collaboration with Continental and Hyundai, is currently working on a Department of Energy funded project that is focused on quantifying the impact of multiple ego vehicles (smart vehicles) on the total energy consumption of the corridor under various traffic conditions, vehicle electrification level, vehicle-to-vehicle (V2V) technology penetration, and the number of smart (ego) vehicles in an urban setting. A six-kilometer-long urban corridor from Columbus, Ohio was modeled and calibrated via real-world data in PTV Vissim traffic microsimulation software. Five forward-looking powertrain models, consisting of two battery electric vehicles
Bhagdikar, Piyush, Gankov, Stanislav, Rengarajan, Sankar, Sarlashkar, Jayant, Hotz, Scott, Bakshi, Kaivalya
Technical Paper
Synthetic LiDAR Point Cloud Data Generation Tool and Deep Learning Validation2022-01-017703/29/2022
LiDAR sensors are set to become common in automated driving due to their high accuracy. However, LiDAR processing algorithm development suffers from lack of training data, partly due to the sensors' high cost. The few public datasets (e.g. KITTI) offer poor coverage of edge case scenarios, whereas these are essential to address to support safe self-driving. We address the unmet need for abundant, high-quality LiDAR data with the development of an artificial LiDAR point cloud generation tool and validate this tool's performance against the PIXOR model, which was trained on the KITTI dataset. The tool makes use of a single camera raycasting process to generate synthetic data and is used in conjunction with filtering techniques to create segmented and filtered object class-specific datasets . The tool has the potential to support the low-cost generation of accurate bulk data in support of training advanced self-driving algorithms, with configurability to simulate commercial and yet-to-be
Karur, Karthik, Pappas, Georgios, Siegel, Joshua, Zhang, Mi
Technical Paper
Effects of combined Phone use and Alcohol-impaired Driving Behaviours among Female Drivers; A Driving Simulator Study2022-01-097203/29/2022
Driver behavior and passenger safety remain one of the foremost axes developed for investigative research in driving simulator studies. However, a plethora of studies on driver’s behaviour using driving simulators has seen the underrepresentation of female participants whose characteristics have scarcely been investigated. More tellingly, the responsibility of female drivers for road traffic accidents with respect to cell phone use and alcohol-impaired behaviours is overlooked. Using a driving simulator experiment, this study thematically modelled and analysed the combined upshot of cell phone use and alcohol-impaired tasks among 15 female driver participants. The experiment was carried out in an urban simulated environment to extract discrete responses from these intoxicated drivers at four different levels of blood alcohol concentration (BAC) (0%, 0.02%, 0.05%, and 0.08%). Vehicle telematic variables such as acceleration (m/s2), vehicle speed (m/s), angular velocity (rad/s2) and RPM
Frimpong, Justice Alex, Prince PhD, Owusu-Ansah, Agyeman, Philip, Arhin, Ebenezer, Fayzullayevich, Jamshid
Technical Paper
Comfort Improvement for Autonomous Vehicles using Reinforcement Learning with In-situ Human Feedback 2022-01-097403/29/2022
Autonomous vehicles have become a driving force to transform our existing transportation system in the near future and will help improve a lot of driving performance such as driving safety, congestion, emissions. Despite that passengers’ comfort in autonomous vehicle (AV) has been an essential topic, there are insufficient methods to significantly increase AVs’ ride comfort or adapt humans to accept AVs. Ride comfort in AVs is dramatically different from that in a traditional vehicle. Traditionally, researchers have investigated ergonomic factors such as seat vibrations and noise. However, the introduction of automated driving functions would lead researchers to shift toward vehicle control factors. In order to make AVs comfortable for humans, we need to know human’s expectations on AVs’ comfort. General approaches to model human expected driving behaviors can be categorized into analytical approaches and heuristic approaches. However, all existing approaches require humans to drive
Xiang, Jun, Guo, Longxiang
Technical Paper
Virtual Verification of Decision Making and Motion Planning Functionalities for Automated Vehicles in Urban Edge Case Scenarios2022-01-101803/29/2022
Traffic congestion, road accidents, environmental pollution and driving stress are usually associated with road transportation in dense urban environments. The widespread deployment of automated vehicles has the potential to eliminate these issues; autonomous vehicles would allow for the optimization of traffic flow, the reduction of road accidents and environmental pollution, and the elimination of driving stress. Despite recent advancements in Automated Driving Systems (ADS), the deployment of such systems in dense urban environments still faces a challenging problem: in comparison to motorway or rural driving, urban environments contain a significantly greater number of traffic participants. This makes it difficult to verify the Safety Of The Intended Functionality (SOTIF) across the entire Operational Design Domain (ODD). One approach to solve this problem is to virtually evaluate and verify the safety of the ADS using simulation tools. Whereas traditionally simulated validation
Souflas, Ioannis, Lazzeretti, Ludovico, Ahrabian, Alireza, Niccolini, Lorenzo, Curtis-Walcott, Shona
Technical Paper
Studies on the dynamic characteristics of vibration energy recovery system 2022-01-033703/29/2022
The vehicle suspension plays a significant role in alleviating the vibrations translated from the rough road and most of the vibrations are dissipated by the hydraulic shock absorber. Vibration energy harvesting technology is widely concerned for the self-powered wireless sensor system in intelligent vehicle. However, the system dynamic characteristics changes due to the coupling between the vibration and electro-magnetic induction. Mechanical electromagnetic coupling is investigated in this paper, a quarter vehicle vibration energy recovery model including electromagnetic system is established. And this paper focuses on the dynamic stiffness and normalized damping, which are often ignored by researchers. A harmonic excitation is applied to the vehicle suspension, and the dynamic stiffness and damping in time domain is studied by changing the frequency of harmonic excitation. And the time-domain response function of vehicle vibration acceleration under harmonic excitation and square
Zhu, Hengjia, Liu, Yunhao, Tian, Siyuan, Yun, Shen, Zhang, Wei
Technical Paper
On-board estimation of road adhesion coefficient based on ANFIS and UKF2022-01-034703/29/2022
The road adhesion coefficient has a great impact on the performance of vehicle tires, which in turn affects vehicle safety and stability. A low coefficient of adhesion can significantly reduce the tire's traction limit. Therefore, the measurement of the coefficient is much helpful for automated vehicle control and stability control. Considering that the road adhesion coefficient is an inherent parameter of the road and it cannot be known directly from the information of the on-vehicle sensors. The novelty of this paper is to construct a road adhesion coefficient observer which considers the noise of sensors and measures the unknown state variable by the trained neural network. A Butterworth filter and Adaptive Neural Fuzzy Interference System (ANFIS) are combined to provide the lateral and longitudinal velocity which cannot be measured by regular sensors. Unscented Kalman filter (UKF) considering vehicle model, wheel model, and tire model is proposed to estimate the road adhesion
Chen, Zixuan, Duan, Yupeng, Wu, Jinglai, Zhang, Yunqing
Technical Paper
SAE TOMORROW TODAY: SAE: Forging a New Mobility Ecosystem - Part 11317111/12/2021
Think you know SAE? These episodes will have you thinking again. The next mobility revolution is upon us. Connected, automated and electrified transportation can provide equity of access to jobs, education, health care and beyond - but the future comes with challenges as innovators consider sustainability, resiliency and scalability of production. In part one of this special two-part series, SAE International's own Chief Growth Officer, Frank Menchaca, discusses the ways SAE is meeting the changing needs of 21st-century transportation and mobility, the organization's partnership with Argo AI and Clemson University to build the new Robotics Bootcamp, why SAE's J3016 Levels of Driving Automation was created, and the launch of SAE's Office of Sustainable Energy. Intrigued? Meet Pete. Meet Skylar. And meet Violet.
Hineman, Marcie
Podcast
2.0.105 - Piston Sealing System Structure Design for Automobile's Lightweight Auto-TransmissionSAE-PP-0043509/24/2021
Current automobile's auto-transmission has problems of defects and cost reduction because of welding process and very complicated assembly process due to individualized transmission piston and sealing components. Also, size and heavy weight of transmission piston components are the source of low mileage because they are made of aluminum, steel material. In this study, therefore, we perform structure design for piston sealing system which integrates piston and sealing material for automobile's lightweight auto-transmission. Also performed stress analysis through finite element analysis to secure required suitable strength when internal pressure is applied after assemble.
Mutagaana, Festo
Pre-Print Article
0071 - Testing DownloadSAE-PP-0042009/13/2021
The combustion occurring in an internal combustion engine subsequently emits high-intensity acoustic pulse along with exhaust gas flow. Formula SAE competition is imposing restrictions on acoustic emissions from an engine, which necessitates the activity of design and optimization of a high-performance muffler. The muffler has to be designed with the objectives of satisfying acoustic emission norms imposed and as well strategically designed to have less obstruction to exhaust flow and being lightweight to maintain the integrity of a Formula Student car. A novel approach of combining the effect of adsorptive and resonating muffler design has been inculcated in this work after the estimation of muffler size and resonance. The acoustic pressure analysis and exhaust flow efficiency are carried out using Ricardo WAVE. These simulation results are validated with the developed prototype. The developed prototype is ascertained to fulfil the requirement of acoustic emission norms (103 dB[C
SintzADMIN, Jeneane, SintzUSER, Jeneane, Anthony, Lindsay, Mutagaana, Festo, Mutz, Jennifer
Pre-Print Article
At the Convergence of the Mobility Trends: Eco-Friendly Connected Automated Vehicles (CAV) and the Energy Efficiency of their Perception System2021-24-011309/05/2021
The four major mobility trends: Electrification, Automation, Connectivity and Ride Sharing drive technological and societal implications, resulting in the emergence of a new ecosystem that could offer faster, cheaper, cleaner, safer, more efficient transportation. Connectivity and Automation capitalize on the merits of the Electrified vehicle platforms. The potential safety related benefits of Connected Automated Vehicles (CAV) are relatively well quantified and accepted, but there is high uncertainty related to their Energy Consumption and Emissions implications, justifying continuous in-depth analysis. SAE International defined five levels of automation, requiring the vehicle to perform specific Advanced Driver Assist System (ADAS) functionality based on the inputs from a complex sensor suite. The CAV energy and efficiency analysis methodology follows the same general approach as for conventional vehicles but includes several specific aspects. In a CAV, the sensor suite and compute
Gradu, Mircea, Heeren, David
Technical Paper
Stability Criteria for Accurate Path Tracking in Automated Guided Vehicle Systems2021-01-009304/06/2021
Satisfactory performance of intelligent vehicles systems in tracking a predefined trajectory requires an efficient control scheme to generate steering control signals from posture errors (i.e., errors in position and orientation). For such systems, it is necessary at each instant to control steering action so that any deviation from the path is corrected in a stable manner, in a reasonable time and without any oscillation about the desired path. This paper deals with stability of motion and motion control of intelligent vehicle systems. In this regard, the general control structure and specification of an optimum range of predefined control parameters for accurate path tracking of these systems are determined. A two degree of freedom (DOF) nonlinear dynamic model is developed to represent their plane motion. Path tracking of the vehicle is attained by controlling the position and orientation errors about the trajectory, which is accomplished by modifying the steering input signal on
Mehrabi, Mostafa
Technical Paper
Motion Estimation of Connected and Automated Vehicles under Communication Delay and Packet Loss of V2X Communications2021-01-010704/06/2021
The emergence of the connected and automated vehicle (CAV) technology enables numerous advanced applications in our transportation system, benefiting our daily travels in terms of safety, mobility, and sustainability. However, vehicular communication technologies such as Dedicated Short-Range Communications (DSRC) or Cellular-Based Vehicle-to-Everything (C-V2X) communications unavoidably introduce issues like communication delay and packet loss, which will downgrade the performances of any CAV applications. In this study, we propose a consensus-based motion estimation methodology to estimate the vehicle motion when the vehicular communication environment is not ideal. This methodology is developed based on the consensus-based feedforward/feedback motion control algorithm, estimating the position and speed of a CAV in the presence of communication delay and packet loss. The simulation study is conducted in a traffic scenario of unsignalized intersections, where CAVs coordinate with each
Wang, Ziran
Technical Paper
Driving Automation System Test Scenario Development Process Creation and Software-in-the-Loop Implementation2021-01-006204/06/2021
Automated driving systems (ADS) are one of the key modern technologies that are changing the way we perceive mobility and transportation. In addition to providing significant access to mobility, they can also be useful in decreasing the number of road accidents. For these benefits to be realized, candidate ADS need to be proven as safe, robust, and reliable; both by design and in the performance of navigating their operational design domain (ODD). This paper proposes a multi-pronged approach to evaluate the safety performance of a hypothetical candidate system. Safety performance is assessed through using a set of test cases/scenarios that provide substantial coverage of those potentially encountered in an ODD. This systematic process is used to create a library of scenarios, specific to a defined domain. Beginning with a system-specific ODD definition, a set of core competencies are identified. These core competencies are then considered both in isolation and in conjunction with other
Patil, Mayur, Lybarger, Alexander, Midlam-Mohler, Shawn, Stoddart, Evan
Technical Paper
Dynamically Adjustable LiDAR with SPAD Array and Scanner2021-01-009104/06/2021
An important function of an Automated Driving (AD) system is to detect objects including vehicles and pedestrians on the road. Typical devices for detecting those objects include cameras, millimeter-wave RADAR, and light detection and ranging (LiDAR). LiDAR uses the flight time of a short-wavelength electromagnetic wave. Because of that LiDAR is expected to find even small objects such as tire fragments on a road in high resolution. The detection performance required for LiDAR depends on the operational design domain (ODD). For example, while a vehicle is travelling at high speeds, LiDAR needs to detect apparently small objects at long distances, and while it is travelling at low speeds, LiDAR has to detect objects over a wide angular range. Conventional LiDAR is developed to satisfy all requirements, providing performance including detection distance, resolution, and angle of view tends to expose issues such as cost and size when it is mounted onboard.
Nakajima, Masato, Hata, Takehiro, Ueno, Akifumi, Ozaki, Noriyuki, Mizuno, Fumiaki, Kashiwada, Shinji, Yanai, Kenichi
Technical Paper
Multi-task Learning of Semantics, Geometry and Motion for Vision-based End-to-End Self-Driving2021-01-019404/06/2021
It’s hard to achieve complete self-driving using hand-crafting generalized decision-making rules, while the end-to-end self-driving system is low in complexity, does not require hand-crafting rules, and can deal with complex situations. Modular-based self-driving systems require multi-task fusion and high-precision maps, resulting in high system complexity and increased costs. In end-to-end self-driving, we usually only use camera to obtain scene status information, so image processing is very important. Numerous deep learning applications benefit from multi-task learning, as the multi-task learning can accelerate model training and improve accuracy with combine all tasks into one model, which reduces the amount of calculation and allows these systems to run in real-time. Therefore, the approach of obtaining rich scene state information based on multi-task learning is very attractive. In this paper, we propose an approach to multi-task learning for semantics, geometry and motion. The
Ni, Hailong, Wu, Jian, Zhang, Dong, Wang, Guojun, Chen, Zhicheng
Journal Article
IAMTS Best Practice for A Comprehensive Approach for the Validation of Virtual Testing ToolchainsIAMTS000120210404/01/2021
This white paper by the International Alliance for Mobility Testing and Standardization (IAMTS) is the first release of an ongoing effort to develop best practices for validating virtual testing of automated driving systems (ADSs). It provides a best practices approach for validating simulation testing against physical baselines for the purposes of validation/homologation of an ADS. This approach is presented in four steps with examples of their application and an explanation of further work being pursued on this topic. This publication is funded by IAMTS members and is provided free of charge to the public.
null, null
Best Practice
Letter from the Guest Editors12-04-01-000103/17/2021
Letter from the Guest Editors
Hamid, Umar Zakir Abdul, Sandblom, Fredrik, Habibovic, Azra, Li, Bin
Journal Article
rtyeuy testing testing testingSAE-PP-0035903/03/2021
etyirui
SintzADMIN, Jeneane
Pre-Print Article
Assessing Boundaries of AI Planning Models of Human-Robot Collaborative Riveting Processes in Industry-Like Conditions2021-01-000203/02/2021
Riveting is an essential process for the pre-assembly as well as the final assembly of aircrafts. In many cases, the riveting process fails to be fully automated, for instance, in parts with complex geometries. Thus, manual riveting is still widely common. Several works have been carried towards semi-automatic riveting solutions, namely in riveting the section barrel of the aft section to its pressure bulkhead. In [1], a method of communication-free semi-automated riveting is proposed where a partially autonomous robot performs counter-holding while a human worker rivets. The method has been modeled and tested extensively in simulation. However, although a demonstration prototype has been developed, models have been tested on it curtly. This paper investigates experimental evaluation of different model variations on demonstration. The aim is to identify the boundaries of the method in real world conditions. Experimental setups are tailored similarly to the ones used in simulation for
Mueller, Rainer, Rekik, Khansa, Kanso, Ali
Journal Article
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