Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art is improved further. This paper discusses unsolved problems and surveys the technical aspect of automated driving. Studies regarding present challenges, high-level system architectures, emerging methodologies and core functions including localization, mapping, perception, planning, and human machine interfaces, were thoroughly reviewed. Furthermore, many state-of-the-art algorithms were implemented and compared on our own platform in a real-world driving setting. The paper concludes with an overview of available datasets and tools for ADS development.

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

Unmanned aerial vehicles (UAVs), or aerial drones, are an emerging technology with significant market potential. UAVs may lead to substantial cost savings in, for instance, monitoring of difficult-to-access infrastructure, spraying fields and performing surveillance in precision agriculture, as well as in deliveries of packages. In some applications, like disaster management, transport of medical supplies, or environmental monitoring, aerial drones may even help save lives. In this article, we provide a literature survey on optimization approaches to civil applications of UAVs. Our goal is to provide a fast point of entry into the topic for interested researchers and operations planning specialists. We describe the most promising aerial drone applications and outline characteristics of aerial drones relevant to operations planning. In this review of more than 200 articles, we provide insights into widespread and emerging modeling approaches. We conclude by suggesting promising directions for future research.

Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey

We analyze and solve the platooning problem by treating it as the problem of achieving consensus in a network of dynamical systems affected by time-varying heterogeneous delays due to wireless communication among vehicles Specifically, a platoon is modeled as a dynamical network where: 1) each vehicle, with its own dynamics, is a node; 2) the presence of communication links between neighboring vehicles is represented by edges; and 3) the structure of the intervehicle communication is encoded in the network topology A distributed control protocol, which acts on every vehicle in the platoon, is derived It is composed of two terms: a local action depending on the state variables of the vehicle itself (measured onboard) and an action depending on the information received from neighboring vehicles through the communication network The stability of the platoon is proven by using Lyapunov–Razumikhin theorem Numerical results are included to confirm and illustrate the theoretical derivation

Distributed Consensus Strategy for Platooning of Vehicles in the Presence of Time-Varying Heterogeneous Communication Delays

https://escholarship.org/content/qt3bq0c3rj/qt3bq0c3rj.pdf?t=o182yb

Platoon management with cooperative adaptive cruise control enabled by VANET

This paper presents an overview of current projects that deal with vehicle platooning The platooning concept can be defined as a collection of vehicles that travel together, actively coordinated in formation Some expected advantages of platooning include increased fuel and traffic efficiency, safety and driver comfort There are many variations of the details of the concept such as: the goals of platooning, how it is implemented, mix of vehicles, the requirements on infrastructure, what is automated (longitudinal and lateral control) and to what level The following projects are presented: SARTRE – a European platooning project; PATH – a California traffic automation program that includes platooning; GCDC – a cooperative driving initiative, SCANIA platooning and; Energy ITS – a Japanese truck platooning project

https://publications.lib.chalmers.se/records/fulltext/174621/local_174621.pdf

Overview of platooning systems

Vehicle-to-Vehicle Communication for a Platooning System

This paper presents results from field measurements on a vehicle-to-vehicle communication system based on IEEE 802.11p. During the measurements the vehicles were moving and there were also moving obstacles located between the transmitting and receiving nodes creating a Non-Line-of-Sight environment. Distance, speed and type of obstacles were varied during the measurements. Both a highway and suburban environment was tested. The tests were focused on packet error rate and consecutive packet loss. The results of the measurements are compared with the communication requirements of a vehicle platooning application which is a novel intelligent transport system application. It implies multiple vehicles tightly following each other in a row. Performance of the application degrades with consecutive packet loss. It is shown that the platooning application is not adequately supported in all measurement scenarios.

Field Measurements of IEEE 802.11p Communication in NLOS Environments for a Platooning Application

The introduction of highly automated driving and autonomous road vehicles will imply new functional safety challenges. The higher complexity and the partly implicit definition of the tasks for the E/E systems will make it harder to argue completeness and correctness of the safety requirements in each phase of the ISO 26262 lifecycle. This paper discusses the new situation in terms of an increasing semantic gap, and recommends to perform more safety refinement steps. As a consequence, ISO 26262 should be amended with activities prescribing new refinements levels.

https://hal.archives-ouvertes.fr/hal-01190734/document

How to Reach Complete Safety Requirement Refinement for Autonomous Vehicles

This paper presents measurements on Vehicle to Vehicle (V2V) communication between participants in a platooning application. Platooning, according to the SARTRE concept, implies several vehicles travelling together in tight formation, with a manually driven heavy lead vehicle. The platoon being studied consists of five vehicles; two trucks in the lead and three passenger cars. The V2V-communication node in each vehicle contains an 802.11p radio at 5,9 GHz. It is used to send messages between vehicles to coordinate movements and maintain safety in the platoon. Another cooperative application that relies on V2V-communication is multiple UAVs flying in formation; as investigated in KARYON. This project also investigates cooperative autonomous vehicles. In both applications, V2V-communication is an enabling technology. Two metrics are studied to quantify the V2V-communication quality: system packet error rate and consecutive packet loss. These two metrics characterize the communication quality in the different tests (speed, antenna position and two tracks). The paper draws general conclusions on the performance of V2V-communication. The presented test results supports comparison of the tested antenna placements on the trucks and the communication quality related to speed and track.

Carl Bergenhem

Papers

Overview of platooning systems

Vehicle-to-Vehicle Communication for a Platooning System

Field Measurements of IEEE 802.11p Communication in NLOS Environments for a Platooning Application

How to Reach Complete Safety Requirement Refinement for Autonomous Vehicles

V2V Communication Quality: Measurements in a Cooperative Automotive Platooning Application