Refine
Year of publication
- 2021 (7) (remove)
Document Type
Language
- English (7)
Has Fulltext
- no (7)
Publication reviewed
- begutachtet (6)
- nicht begutachtet (1)
Keywords
Modeling and simulation techniques are a necessity to solve the problems and aid the automated driving verification and validation process. The scenario-based analysis like hazard analysis and risk assessment is counting as an essential method not only to understand the system behavior in the field of an automated vehicle but also to reduce the development and communication gaps. In terms of functional safety and safety of the intended functionality the number of hazardous scenarios increases that need to be reduced. Scenario reduction is a challenge that yet needs to be solved. Therefore, this paper proposes a probability approach like the Monte Carlo method at the logical scenario level. Additionally, the safety-critical vehicle parameter range has been optimized based on collision detection. Furthermore, the result realized by the Monte Carlo experiment has been used to model the concrete scenarios in CarMaker in a time-efficient manner. The approach of modeling for a specific function like transverse guidance can be utilized to build a full scenario database for the highly automated driving vehicle.
To allow a vehicle with highly automated driving functions to operate on the road the overall safety (safe functionalities, functional insufficiencies including cybersecurity) of the driving system must be guaranteed. Therefore, a generic Safety Management System (SMS), that includes all useful and necessary regulations should be applied. The given specifications regarding the safety of driving systems shall be understood and considered in order to define an acceptable SMS for the Highly Automated Driving Function (HADF). Derived from the generic SMS a specific management system has to be developed to guide the development and deployment of the HADF. The research presented in this paper investigates the currently available SMS in different sectors like aviation, marine, and railway to propose a new set of components and elements that are useful and modified for a HADF’s SMS. Moreover, the paper provides a systematic approach to how the new set of components and elements can be applied for a HADF SMS. Additionally, well established hazard identification methods (scenario-based HARA and STPA) are compared and integrated into the safety concept phase. The complexity of scenarios is unique for a HADF. Since the SMS is going to be complicated for automotive HADFs and a constantly developing process, methods for evaluation and continuous improvement are needed. This paper gives insight into the structure of the SMS and to guarantee its applicability the use of a helpful software tool is considered. Furthermore, the proposed SMS approach can be adjusted as a groundwork for research concerns like validation for homologation and assess the safety of a HADF.
One of the fundamental tasks of autonomous driving is safe trajectory planning, the task of deciding where the vehicle needs to drive, while avoiding obstacles, obeying safety rules, and respecting the fundamental limits of road. Real-world application of such a method involves consideration of surrounding environment conditions and movements such as Lane Change, collision avoidance, and lane merge. The focus of the paper is to develop and implement safe collision free highway Lane Change trajectory using high order polynomial for Highly Automated Driving Function (HADF). Planning is often considered as a higher-level process than control. Behavior Planning Module (BPM) is designed that plans the high-level driving actions like Lane Change maneuver to safely achieve the functionality of transverse guidance ensuring safety of the vehicle using motion planning in a scenario including environmental situation. Based on the recommendation received from the (BPM), the function will generate a desire corresponding trajectory. The proposed planning system is situation specific with polynomial based algorithm for same direction two lane highway scenario. To support the trajectory system polynomial curve can be used to reduces overall complexity and thereby allows rapid computation. The proposed Lane Change scenario is modeled, and results has been analyzed (verified and validate) through the MATLAB simulation environment. The method proposed in this paper has achieved a significant improvement in safety and stability of Lane Changing maneuver.
For a safe operation of highly automated driving (HAD) systems on the road, the overall safety (functional safety (FS) and the safety of the intended functionality (SOTIF)) including cybersecurity must be guaranteed. Within these terms, the application of a Safety Management System (SMS) is becoming essential for HAD systems. Meanwhile, the cybersecurity for HAD systems is handled separately, familiar as Cybersecurity Management System (CSMS). To provide seamless safety and cybersecurity for highly automated vehicles on the road the two Management Systems should be linked with each other and therefore the interfaces from the SMS to cybersecurity must be defined. Furthermore, the communication flow from SMS to CSMS shall be specified to ensure that no information is lost in between. However, the development phases (SMS and CSMS) will also seemingly pomp the interface areas to industrial sectors like IEC TR 63069 [1], with UN Regulation No.155 [2] and others. The research aspects presented in this paper focus on:
(1) identifying the management related adaption topics for HAD-Safety and cybersecurity considering ISO 26262 (FS), ISO/PAS 21448 (SOTIF), UL4600 (safety for evaluation), SAE J3061 (cybersecurity guidebook) and upcoming ISO 21434 (cybersecurity) [3], [4] [5], [6] and [7].
(2) the novelty in interfaces of SMS and CSMS in risk management of HAD systems.
Moreover, provides a brief systematic approach to sort the collected data during the SMS processes into safety, cybersecurity, or both domains. Safety considers the functional insufficiencies (SOTIF) for hazard analysis and cybersecurity contemplates the threat analysis which can have the potential to occur a hazardous situation for HAD vehicles. Safety considers the SOTIF aspect which deals with environmental and misuse aspects but cybersecurity covers a vast area of consideration. Derived from the proposed approach a general structure for SMS interfaces to cybersecurity is created.
In recent decades, research in both academic and industry has focused on the area of highly automated driving systems and is expected to do so in the near future. The scenario-based analysis is widely used in automated vehicles that requires simulation-based vehicle control estimation. One of the assist system is transverse guidance that is inescapable for highly automated driving system. The transverse guidance assist system deals with the longitudinal and lateral behavior of the vehicle. For a specific use case, merging functions like adaptive cruise control and lane keeping assist system are considered. The paper is focused on the development of transverse guidance that forms the combined lateral and longitudinal control of highly automated driving system like Lane Change maneuver planning in highway scenario. Moreover, the parameters are demonstrated for the model and performance of the model has been shown for the use case scenario. The proposed approach is then evaluated for a scenario in a simulation environment modeled using MATLAB/Simulink.
This paper investigates the scenario catalog generation and scenario reduction approaches for a complete Highly Automated Driving Function (HADF). Such approaches focus on the clustering and/or grouping of scenarios by applying a simple stochastic process at an early stage of development. Dealing with an enormous number of scenarios considering Functional Safety (FuSa), Safety Of The Intended Functionality (SOTIF)including cybersecurity desires intelligent approaches for HADF’s scenario reduction. The reduction of scenarios in HADF is a challenge for automotive researchers since it relates to a large number of parameters (like environmental aspects). The main contributions of the scenario generation and reduction approach proposed in this work are the following: (1) contribution to a complete scenario catalog for a dedicated HADF, (2) logical scenario optimization with parameter distribution, and (3) optimize discretization step for finding semiconcrete scenarios that can be executed. Furthermore, the optimization method incorporating the Monte-Carlo(MC) experiment with the CarMaker simulation yields a systematic approach to modeling reduced scenarios without redundancy to support safety.
To provide overall safety to the automotive domain both vehicle safety and security need to be considered. Cybersecurity is a key to define the quality of the autonomous vehicle by introducing safe and secure development and risk assessment. The implementation of the Over-The-Air (OTA) updates in the automotive industry brought many facilities to the drier and the Original Equipment Manufacturer (OEM). The amount of cost-saving from OTA for OEMs is assumed over several billion. So, research is essential for safe and secure OTA updates in the autonomous vehicle. However, Highly Automated Driving Functions (HADFs) have already raised the necessity of secure development because a threat can lead to harm in certain scenarios including the functional insufficiencies as mentioned in Safety Of The Intended Functionality (SOTIF) of the system. Scenario-based Hazard Analysis and Risk Assessment (HARA) is extensively used in automated vehicle systems and can support for further development of scenario-based threat analysis for OTA updates. Additionally, the scenario-based analysis represents the alliance of safety and security during product development. Therefore, this paper illustrates the scenario-based analysis and assessment of threats including the OTA feature. Furthermore, demonstrates the processes step-by-step to perform Threat Analysis and Risk Assessment (TARA) against potential vulnerabilities to obtain a set of cybersecurity goals for a HADF.