Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations
TL;DR: With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable.
Abstract: This paper presents a new method for the design and validation of advanced driver assistance systems (ADASs). With vehicle hardware-in-the-loop (VEHIL) simulations, the development process, and more specifically the validation phase, of intelligent vehicles is carried out safer, cheaper, and is more manageable. In the VEHIL laboratory, a full-scale ADAS-equipped vehicle is set up in a hardware-in-the-loop simulation environment, where a chassis dynamometer is used to emulate the road interaction and robot vehicles to represent other traffic. In this controlled environment, the performance and dependability of an ADAS is tested to great accuracy and reliability. The working principle and the added value of VEHIL are demonstrated with test results of an adaptive cruise control and a forward collision warning system. On the basis of the 'V' diagram, the position of VEHIL in the development process of ADASs is illustrated.
Citations
More filters
TL;DR: This work reviews the recent status of methodologies and techniques related to the construction of digital twins mostly from a modeling perspective to provide a detailed coverage of the current challenges and enabling technologies along with recommendations and reflections for various stakeholders.
Abstract: Digital twin can be defined as a virtual representation of a physical asset enabled through data and simulators for real-time prediction, optimization, monitoring, controlling, and improved decision making. Recent advances in computational pipelines, multiphysics solvers, artificial intelligence, big data cybernetics, data processing and management tools bring the promise of digital twins and their impact on society closer to reality. Digital twinning is now an important and emerging trend in many applications. Also referred to as a computational megamodel, device shadow, mirrored system, avatar or a synchronized virtual prototype, there can be no doubt that a digital twin plays a transformative role not only in how we design and operate cyber-physical intelligent systems, but also in how we advance the modularity of multi-disciplinary systems to tackle fundamental barriers not addressed by the current, evolutionary modeling practices. In this work, we review the recent status of methodologies and techniques related to the construction of digital twins mostly from a modeling perspective. Our aim is to provide a detailed coverage of the current challenges and enabling technologies along with recommendations and reflections for various stakeholders.
660 citations
Cites background from "Development of advanced driver assi..."
...Hardware-in-the-loop (HIL) simulation approach, a wellestablished concept of using a physical object during system development phase in control engineering [316]–[318], can be also considered as a promising approach towards near real-time predictions within digital twin platforms (e....
[...]
TL;DR: The physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.) are presented.
Abstract: This paper presents a systematic review of the perception systems and simulators for autonomous vehicles (AV). This work has been divided into three parts. In the first part, perception systems are categorized as environment perception systems and positioning estimation systems. The paper presents the physical fundamentals, principle functioning, and electromagnetic spectrum used to operate the most common sensors used in perception systems (ultrasonic, RADAR, LiDAR, cameras, IMU, GNSS, RTK, etc.). Furthermore, their strengths and weaknesses are shown, and the quantification of their features using spider charts will allow proper selection of different sensors depending on 11 features. In the second part, the main elements to be taken into account in the simulation of a perception system of an AV are presented. For this purpose, the paper describes simulators for model-based development, the main game engines that can be used for simulation, simulators from the robotics field, and lastly simulators used specifically for AV. Finally, the current state of regulations that are being applied in different countries around the world on issues concerning the implementation of autonomous vehicles is presented.
268 citations
TL;DR: This review will provide a comprehensive review of current research on NGs’ applications in different sectors of a smart city and show how NGs can be a game changer in the development of smart cities under 5G services and how the usage of NG can boost the convenience of city dwellers.
193 citations
Patent•
15 May 2015
TL;DR: In this article, the authors present a system for monitoring use of a vehicle having one or more autonomous (and/or semi-autonomous) operation features to determine and respond to incidents, such as collisions, thefts, or breakdowns.
Abstract: Methods and systems are provided for monitoring use of a vehicle having one or more autonomous (and/or semi-autonomous) operation features to determine and respond to incidents, such as collisions, thefts, or breakdowns. According to certain aspects, operating data from sensors within or near the vehicle may be used to determine when an incident has occurred and determine an appropriate response. The responses may include contacting a third party to provide assistance, such as local emergency services. In some embodiments, occurrence of the incident may be verified by automated communication with the vehicle operator.
116 citations
TL;DR: A very effective method for target detection and tracking from aerial imagery via drones using onboard powered sensors and devices based on a deep learning framework is proposed and demonstrated by real-time experiments with a small multi-rotor drone.
Abstract: In recent years, demand has been increasing for target detection and tracking from aerial imagery via drones using onboard powered sensors and devices. We propose a very effective method for this application based on a deep learning framework. A state-of-the-art embedded hardware system empowers small flying robots to carry out the real-time onboard computation necessary for object tracking. Two types of embedded modules were developed: one was designed using a Jetson TX or AGX Xavier, and the other was based on an Intel Neural Compute Stick. These are suitable for real-time onboard computing power on small flying drones with limited space. A comparative analysis of current state-of-the-art deep learning-based multi-object detection algorithms was carried out utilizing the designated GPU-based embedded computing modules to obtain detailed metric data about frame rates, as well as the computation power. We also introduce an effective target tracking approach for moving objects. The algorithm for tracking moving objects is based on the extension of simple online and real-time tracking. It was developed by integrating a deep learning-based association metric approach with simple online and real-time tracking (Deep SORT), which uses a hypothesis tracking methodology with Kalman filtering and a deep learning-based association metric. In addition, a guidance system that tracks the target position using a GPU-based algorithm is introduced. Finally, we demonstrate the effectiveness of the proposed algorithms by real-time experiments with a small multi-rotor drone.
113 citations
Cites background or methods from "Development of advanced driver assi..."
...Target tracking can be used in autonomous vehicles for the development of guidance systems [2]....
[...]
...Visual recognition systems in a UAV can be used in many applications, like video surveillance, self-driving systems [6], a panoramic aerial view for traffic management, traffic surveillance, road conditions, and emergency response, which has been the interest of transportation departments for many years [2,7]....
[...]
References
More filters
Book•
01 Jan 1986
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Abstract: 1. Introduction. 2. Spatial Descriptions and Transformations. 3. Manipulator Kinematics. 4. Inverse Manipulator Kinematics. 5. Jacobians: Velocities and Static Forces. 6. Manipulator Dynamics. 7. Trajectory Generation. 8. Manipulator Mechanism Design. 9. Linear Control of Manipulators. 10. Nonlinear Control of Manipulators. 11. Force Control of Manipulators. 12. Robot Programming Languages and Systems. 13. Off-Line Programming Systems.
5,992 citations
"Development of advanced driver assi..." refers background in this paper
...In a similar way the transformations to relative velocity (C2v1, C2 ˙ ψ1) and relative acceleration (C2a1, C2 ¨ ψ1) are derived [ 38 ]....
[...]
...G R is the rotation matrix from frame {G} to {C2} and q represents the orientation in Euler parameters [ 38 ]....
[...]
Book•
01 Jan 2002
TL;DR: In this article, the wheel-shimmy phenomenon is considered in the context of dynamic tire testing and tire characteristics and vehicle handling and stability, and a variety of models are proposed.
Abstract: Tyre characteristics and vehicle handling and stability Basic tyre modelling considerations Theory of steady-state slip force and moment generation Semi-empirical steady-state tyre models Non-steady-state out-of-plane string-based tyre model Theory of the wheel-shimmy phenomenon Single contact point transient tyre models Applications of transient tyre models Short wavelength intermediate frequency tyre model Dynamic Tyre Model Performance Motorcycle dynamics Steady state and dynamic tyre testing References Appendix List of symbols Index
2,753 citations
Book•
01 May 1991
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Abstract: From the Publisher:
Introduction to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
2,354 citations
TL;DR: This paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation, and the impact of automation/warning systems on each of the above-mentioned factors.
Abstract: This paper looks into recent developments and research trends in collision avoidance/warning systems and automation of vehicle longitudinal/lateral control tasks. It is an attempt to provide a bigger picture of the very diverse, detailed and highly multidisciplinary research in this area. Based on diversely selected research, this paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation. Human factor studies and legal issues are analyzed as well as control algorithms. Drivers' comfort and well being, increased safety, and increased highway capacity are among the most important initiatives counted for automation. However, sometimes these are contradictory requirements. Relying on an analytical survey of the published research, we will try to provide a more clear understanding of the impact of automation/warning systems on each of the above-mentioned factors. The discussion of sensory issues requires a dedicated paper due to its broad range and is not addressed in this paper.
823 citations
"Development of advanced driver assi..." refers background in this paper
...Main challenges in this respect are customer acceptance and understanding of the added value, liability exposure, and regulatory issues [6, 18]....
[...]
Book•
01 Jan 1996
TL;DR: This book covers all phases of the life of a safety-critical system from its conception and specification, through to its certification, installation, service and decommissioning, and gives a thorough grounding in the techniques available to investigate the safety aspects of computer-based systems.
Abstract: From the Publisher:
Increasingly, microcomputers are being used in applications where their correct operation is vital to ensure the safety of the public and the environment: from anti-lock braking systems in automobiles, to fly-by-wire aircraft, to shut-down systems at nuclear power plants. It is, therefore, vital that engineers are aware of the safety implications of the systems they develop. This book is an introduction to the field of safety-critical computer systems, and is written for any engineer who uses microcomputers within real-time embedded systems. It assumes no prior knowledge of safety, or of any specific computer hardware or programming language. This book covers all phases of the life of a safety-critical system from its conception and specification, through to its certification, installation, service and decommissioning; provides information on how to assess the safety implications of projects, and determine the measures necessary to develop systems to meet safety needs; gives a thorough grounding in the techniques available to investigate the safety aspects of computer-based systems and the methods that may be used to enhance their dependability; and uses case studies and worked examples from a wide range of industrial sectors including the nuclear, aircraft, automotive and consumer products industries. This text is intended for both engineering and computer science students, and for practising engineers within computer-related industries. The approach taken is equally suited to engineers who consider computers from a hardware, software or systems viewpoint.
626 citations
"Development of advanced driver assi..." refers background in this paper
...Although advances in passive safety, as illustrated in figure 1, have made passenger cars ever safer, the safety potential of further improvements in passive safety features is limited....
[...]