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Vedder, B., Svensson, B. J., Vinter, J. & Jonsson, M. (2020). Automated Testing of Ultrawideband Positioning for Autonomous Driving. Journal of Robotics, 2020, Article ID 9345360.
Open this publication in new window or tab >>Automated Testing of Ultrawideband Positioning for Autonomous Driving
2020 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, Vol. 2020, article id 9345360Article in journal (Refereed) Published
Abstract [en]

Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on ultrawideband (UWB) ranging with our self-driving model car using a highly automated approach. Random drivable trajectories were generated, while the UWB position was compared against the Real-Time Kinematic Satellite Navigation (RTK-SN) positioning system which our model car also is equipped with. Fault injection was used to study the fault tolerance of the UWB positioning system. Addressed challenges are automatically generating test cases for real-time hardware, restoring the state between tests, and maintaining safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time and rerun them consistently with and without fault injection enabled. Thereby, we demonstrate one novel approach to perform automated testing on complex real-time hardware. Copyright © 2020 Benjamin Vedder et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Place, publisher, year, edition, pages
London, UK: Hindawi Publishing Corporation, 2020
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:hh:diva-41406 (URN)10.1155/2020/9345360 (DOI)000510880200001 ()2-s2.0-85079208712 (Scopus ID)
Funder
Knowledge FoundationVinnova, 776307
Available from: 2020-01-27 Created: 2020-01-27 Last updated: 2020-02-18Bibliographically approved
Rak, J., Jonsson, M., Vinel, A. & Jurczenia, K. (2020). Design of Resilient Vehicle-to-Infrastructure Systems. In: Jacek Rak and David Hutchison (Ed.), Guide to Disaster-Resilient Communication Networks: (pp. 721-741). New York: Springer
Open this publication in new window or tab >>Design of Resilient Vehicle-to-Infrastructure Systems
2020 (English)In: Guide to Disaster-Resilient Communication Networks / [ed] Jacek Rak and David Hutchison, New York: Springer, 2020, p. 721-741Chapter in book (Refereed)
Place, publisher, year, edition, pages
New York: Springer, 2020
Series
Computer Communications and Networks, ISSN 1617-7975
National Category
Communication Systems Telecommunications
Identifiers
urn:nbn:se:hh:diva-42891 (URN)978-3-030-44685-7 (ISBN)978-3-030-44684-0 (ISBN)
Available from: 2020-07-25 Created: 2020-07-25 Last updated: 2020-08-20Bibliographically approved
(2020). Profile Area Smart Cities and Communities: 2019 Annual Report. Halmstad: Communications Department, Halmstad University
Open this publication in new window or tab >>Profile Area Smart Cities and Communities: 2019 Annual Report
2020 (English)Other (Other (popular science, discussion, etc.))
Place, publisher, year, pages
Halmstad: Communications Department, Halmstad University, 2020. p. 31
National Category
Civil Engineering Computer and Information Sciences Earth and Related Environmental Sciences Electrical Engineering, Electronic Engineering, Information Engineering Mechanical Engineering Environmental Engineering Industrial Biotechnology Economics and Business Educational Sciences Sociology
Identifiers
urn:nbn:se:hh:diva-41822 (URN)
Available from: 2020-03-25 Created: 2020-03-25 Last updated: 2020-03-30Bibliographically approved
Agnoletto, D., Jonsson, M. & Pignaton de Freitas, E. (2020). Time slot transmission scheme with packet prioritization for Bluetooth low energy devices used in real-time applications. International Journal of Wireless Information Networks, 27(4), 518-534
Open this publication in new window or tab >>Time slot transmission scheme with packet prioritization for Bluetooth low energy devices used in real-time applications
2020 (English)In: International Journal of Wireless Information Networks, ISSN 1068-9605, E-ISSN 1572-8129, Vol. 27, no 4, p. 518-534Article in journal (Refereed) Published
Abstract [en]

Bluetooth Low Energy (BLE) is one of the most important technologies that feed the growing field of Internet of Things and Wireless Sensor Networks. Due to its flexibility and unique low power-consumption, an increasing number of industrial devices, household appliances and wearables are being designed using it. However, the real-time demands of these networks such as timing and Quality of Service are not fully covered by the protocol itself. To help improve and offer some control over these characteristics, this paper presents a time slot transmission scheme with packet prioritization. It is based on the division and allocation of the connection interval to two types of messages: real-time and ordinary. The goal is to offer the lowest packet loss and time guarantees for real-time messages, while providing acceptable throughput for ordinary ones. Since the probability of a BLE connection to close increases with the number of packets sent through it, the position where a real-time packet is being sent as well as the number of ordinary messages in a connection represent key factors. The use of the first and last slot for real-time packets with ordinary flow restricted to the space between them decreases the transmission delay uncertainty and allows probability tuning based on the number of ordinary messages. Simulations were performed using the proposed scheme and a reduction of more than 100 times in the delay variance was observed for real-time transmissions. Regarding reliability, around 5% of the packets were lost for a bit error rate of 10−3. © 2020, Springer Science+Business Media, LLC, part of Springer Nature.

Place, publisher, year, edition, pages
New York, NY: Springer Science+Business Media B.V., 2020
Keywords
Bluetooth low energy, Real-time communication requirements, Time slot management, Packet prioritization
National Category
Communication Systems
Identifiers
urn:nbn:se:hh:diva-43593 (URN)10.1007/s10776-020-00494-4 (DOI)000572984100001 ()2-s2.0-85091488688 (Scopus ID)
Note

Funding: This study was financed in part by the Conselho Nacional de Pesquisa-Brasil (CNPq) and by the CoordenacAo de Aperfeicoamento de Pessoal de Nivel Superior-Brasil (CAPES)-Finance Code 001.

Available from: 2020-12-03 Created: 2020-12-03 Last updated: 2020-12-03Bibliographically approved
Hilt, B., Berbineau, M., Vinel, A., Jonsson, M. & Pirovano, A. (Eds.). (2019). Communication Technologies for Vehicles: 14th International Workshop, Nets4Cars/Nets4Trains/Nets4Aircraft 2019, Colmar, France, May 16–17, 2019, Proceedings. Heidelberg: Springer
Open this publication in new window or tab >>Communication Technologies for Vehicles: 14th International Workshop, Nets4Cars/Nets4Trains/Nets4Aircraft 2019, Colmar, France, May 16–17, 2019, Proceedings
Show others...
2019 (English)Conference proceedings (editor) (Refereed)
Place, publisher, year, edition, pages
Heidelberg: Springer, 2019. p. 119
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 11461
National Category
Communication Systems Telecommunications
Identifiers
urn:nbn:se:hh:diva-40261 (URN)10.1007/978-3-030-25529-9 (DOI)978-3-030-25529-9 (ISBN)978-3-030-25528-2 (ISBN)
Available from: 2019-07-22 Created: 2019-07-22 Last updated: 2019-07-23Bibliographically approved
Hoang, L.-N., Uhlemann, E. & Jonsson, M. (2019). Relay Grouping to Guarantee Timeliness and Reliability in Wireless Networks. IEEE Communications Letters, 23(9), 1661-1664
Open this publication in new window or tab >>Relay Grouping to Guarantee Timeliness and Reliability in Wireless Networks
2019 (English)In: IEEE Communications Letters, ISSN 1089-7798, E-ISSN 1558-2558, Vol. 23, no 9, p. 1661-1664Article in journal (Refereed) Published
Abstract [en]

Relaying can increase reliability, range, or throughput. In many cyber-physical systems (CPS), relaying is used to maximize reliability before a given deadline. Since concurrent transmissions are not supported by most CPS, time-division multiple access (TDMA) is typically used. However, a major drawback of relaying in TDMA is that pre-allocated time-slots are wasted if their respective transmitters do not have any correctly received packet to relay. Therefore, in this letter, we propose a novel relay grouping scheme to overcome this drawback. Numerical results show that the proposed scheme significantly enhances the reliability while guaranteeing the deadline for each message. © Copyright 2019 IEEE - All rights reserved.

Place, publisher, year, edition, pages
Piscataway: Institute of Electrical and Electronics Engineers (IEEE), 2019
Keywords
Relay networks, industrial communication, multi-access communication
National Category
Communication Systems
Identifiers
urn:nbn:se:hh:diva-41274 (URN)10.1109/LCOMM.2019.2923406 (DOI)000485733200048 ()2-s2.0-85072257501 (Scopus ID)
Funder
Swedish Foundation for Strategic Research
Available from: 2019-12-18 Created: 2019-12-18 Last updated: 2019-12-19Bibliographically approved
Vedder, B., Vinter, J. & Jonsson, M. (2018). A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving. Journal of Robotics, 2018, Article ID 4907536.
Open this publication in new window or tab >>A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving
2018 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, Vol. 2018, article id 4907536Article in journal (Refereed) Published
Abstract [en]

Accurate positioning is a requirement for many applications, including safety-critical autonomous vehicles. To reduce cost and at the same time improving accuracy for positioning of autonomous vehicles, new methods, tools and research platforms are needed. We have created a low-cost testbed consisting of electronics and software, that can be fitted on model vehicles allowing them to follow trajectories autonomously with a position accuracy of around 3 cm outdoors. The position of the vehicles is derived from sensor fusion between Real-Time Kinematic Satellite Navigation (RTK-SN), odometry and inertial measurement, and performs well within a 10 km radius from a base station. Trajectories to be followed can be edited with a custom GUI, where also several model vehicles can be controlled and visualized in real time. All software and Printed Circuit Boards (PCBs) for our testbed are available as open source to make customization and development possible. Our testbed can be used for research within autonomous driving, for carrying test equipment, and other applications where low cost and accurate positioning and navigation is required. © 2018 Benjamin Vedder et al.

Place, publisher, year, edition, pages
London: Hindawi Publishing Corporation, 2018
Keywords
Autonomous, RTK GNSS, Odometry, Open Source, Testbed, Model car, Motor control, Pure pursuit algorithm, Sensor fusion
National Category
Robotics
Identifiers
urn:nbn:se:hh:diva-38402 (URN)10.1155/2018/4907536 (DOI)000451883600001 ()2-s2.0-85058336224 (Scopus ID)
Funder
Knowledge Foundation, EISIGSVINNOVA, Chronos 1 and 2
Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2020-02-03Bibliographically approved
Vedder, B., Vinter, J. & Jonsson, M. (2018). Accurate positioning of bicycles for improved safety. In: Saraju P. Mohanty, Peter Corcoran & Hai (Helen) Li (Ed.), 2018 IEEE International Conference on Consumer Electronics (ICCE): . Paper presented at 36th IEEE International Conference on Consumer Electronics (ICCE), Las Vegas, NV, USA, Jan. 12-14, 2018. Piscataway, NJ: IEEE
Open this publication in new window or tab >>Accurate positioning of bicycles for improved safety
2018 (English)In: 2018 IEEE International Conference on Consumer Electronics (ICCE) / [ed] Saraju P. Mohanty, Peter Corcoran & Hai (Helen) Li, Piscataway, NJ: IEEE, 2018Conference paper, Published paper (Refereed)
Abstract [en]

Cyclists are not well protected in accidents with other road users, and there are few active safety systems available for bicycles. In this study we have evaluated the use of inexpensive Real-Time Kinematic Satellite Navigation (RTK-SN) receivers with multiple satellite constellations together with dead reckoning for accurate positioning of bicycles to enable active safety functions such as collision warnings. This is a continuation of previous work were we concluded that RTK-SN alone is not sufficient in moderately dense urban areas as buildings and other obstructions degrade the performance of RTK-SN significantly. In this work we have added odometry to the positioning system as well as extending RTK-SN with multiple satellite constellations to deal with situations where the view of the sky is poor and thus fewer satellites are in view. To verify the performance of the positioning system we have used Ultra-Wideband radios as an independent positioning system to compare against while testing during poor conditions for RTK-SN. We were able to verify that adding dead reckoning and multiple satellite constellations improves the performance significantly under poor conditions and makes the positioning system more useful for active safety systems. © 2018 IEEE

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2018
Series
Proceedings of ... IEEE International Symposium on Consumer Electronics, E-ISSN 2158-4001
Keywords
RTK GPS, odometry, testbed, bicycle, positioning, ultra-wideband
National Category
Computer Systems
Identifiers
urn:nbn:se:hh:diva-35878 (URN)10.1109/ICCE.2018.8326237 (DOI)2-s2.0-85048765893 (Scopus ID)978-1-5386-3025-9 (ISBN)978-1-5386-3026-6 (ISBN)
Conference
36th IEEE International Conference on Consumer Electronics (ICCE), Las Vegas, NV, USA, Jan. 12-14, 2018
Funder
Knowledge Foundation
Note

Funding: EISIGS (grants from the Knowledge Foundation) and through the Swedish Trafikverkets Skyltfond

Available from: 2017-12-14 Created: 2017-12-14 Last updated: 2020-02-03Bibliographically approved
Lyamin, N., Vinel, A., Jonsson, M. & Bellalta, B. (2018). Cooperative awareness in VANETs: On ETSI EN 302 637-2 performance. IEEE Transactions on Vehicular Technology, 67(1), 17-28
Open this publication in new window or tab >>Cooperative awareness in VANETs: On ETSI EN 302 637-2 performance
2018 (English)In: IEEE Transactions on Vehicular Technology, ISSN 0018-9545, E-ISSN 1939-9359, Vol. 67, no 1, p. 17-28Article in journal (Refereed) Published
Abstract [en]

Cooperative Awareness on the road is aiming to support the road users with knowledge about the surroundings relying on the information exchange enabled by vehicular com- munications. To achieve this goal European Telecommunication Standard Institute (ETSI) delivered the standard EN 302 637-2 for Cooperative Awareness Messages (CAM). The CAM trig- gering conditions are based on the dynamics of the originating vehicle, which is checked periodically. In this paper, we show that standardized ETSI protocol may demonstrate a decrease in communication performance under several realistic mobility patterns. The potential influence of the discovered phenomena on two typical mobility scenarios is studied.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Press, 2018
Keywords
VANET, Cooperative Awareness, Platooning, ETSI, ITS-G5
National Category
Communication Systems Telecommunications
Identifiers
urn:nbn:se:hh:diva-35466 (URN)10.1109/TVT.2017.2754584 (DOI)000422924200002 ()2-s2.0-85035747459 (Scopus ID)
Projects
ELLIITACDC: Autonomous Cooperative Driving: Communications Issues
Funder
Knowledge Foundation
Note

Partially supported by the Excellence Center at Linköping-Lund in Information Technology (ELLIIT) strategic research environment, NFITS - National ITS Postgraduate School (Sweden) and the ”ACDC: Autonomous Cooperative Driving: Communications Issues” project (2014- 2016) funded by the Knowledge Foundation (Sweden) in cooperation with Volvo GTT, Volvo Cars, Scania, Kapsch TrafficCom and Qamcom Research & Technology.

Available from: 2017-11-24 Created: 2017-11-24 Last updated: 2020-02-28Bibliographically approved
Hoang, L.-N., Uhlemann, E. & Jonsson, M. (2017). A novel relaying scheme to guarantee timeliness and reliability in wireless networks. In: 2016 IEEE Globecom Workshops (GC Wkshps): Proceedings. Paper presented at IEEE Globecom 2016 – 3rd International Workshop on Ultra-Reliable and Low-Latency Communications in Wireless Networks (URLLC), Washington, DC, USA, Dec. 8, 2016. New York: IEEE, Article ID 7848822.
Open this publication in new window or tab >>A novel relaying scheme to guarantee timeliness and reliability in wireless networks
2017 (English)In: 2016 IEEE Globecom Workshops (GC Wkshps): Proceedings, New York: IEEE, 2017, article id 7848822Conference paper, Published paper (Refereed)
Abstract [en]

Many emerging applications based on wireless networks involve distributed control. This implies high requirements on reliability, but also on a predictable maximum delay and sometimes jitter. Further, many distributed control systems need to be constructed using off-the-shelf components, both due to cost constraints and due to interoperability with existing networks. This, in turn, implies that concurrent transmissions and multiuser detection are seldom possible. Instead, half-duplex time division multiple access (TDMA) is typically used. The total communication delay thereby depends on the packet error rate and the time until channel access is granted. With TDMA, channel access is upper-bounded and the jitter can be set to zero. With the aim to reduce the packet error rate given a certain deadline (a set of TDMA time-slots), we propose a novel relaying scheme, which can be implemented on top of off-the-shelf components. The paper includes a full analysis of the resulting error probability and latency. Numerical results show that the proposed relaying strategy significantly improves reliability given a certain maximum latency, or alternatively, reduces the latency, given a certain target reliability requirement. © 2016 IEEE.

Place, publisher, year, edition, pages
New York: IEEE, 2017
Keywords
Relaying Strategies, Reliability, Latency
National Category
Communication Systems
Identifiers
urn:nbn:se:hh:diva-32701 (URN)10.1109/GLOCOMW.2016.7848822 (DOI)000401921400025 ()2-s2.0-85015833222 (Scopus ID)978-1-5090-2482-7 (ISBN)978-1-5090-2481-0 (ISBN)
Conference
IEEE Globecom 2016 – 3rd International Workshop on Ultra-Reliable and Low-Latency Communications in Wireless Networks (URLLC), Washington, DC, USA, Dec. 8, 2016
Available from: 2016-12-15 Created: 2016-12-15 Last updated: 2022-06-07Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6526-3931

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