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Accurate positioning of bicycles for improved safety
RISE Research Institutes of Sweden, Gothenburg, Sweden.ORCID-id: 0000-0003-1713-3726
RISE Research Institutes of Sweden, Gothenburg, Sweden.
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).ORCID-id: 0000-0002-6526-3931
2018 (Engelska)Ingår i: 2018 IEEE International Conference on Consumer Electronics (ICCE) / [ed] Saraju P. Mohanty, Peter Corcoran & Hai (Helen) Li, Piscataway, NJ: IEEE, 2018Konferensbidrag, Publicerat paper (Refereegranskat)
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

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE, 2018.
Serie
Proceedings of ... IEEE International Symposium on Consumer Electronics, E-ISSN 2158-4001
Nyckelord [en]
RTK GPS, odometry, testbed, bicycle, positioning, ultra-wideband
Nationell ämneskategori
Datorsystem
Identifikatorer
URN: urn:nbn:se:hh:diva-35878DOI: 10.1109/ICCE.2018.8326237ISBN: 978-1-5386-3025-9 (digital)ISBN: 978-1-5386-3026-6 (tryckt)OAI: oai:DiVA.org:hh-35878DiVA, id: diva2:1166422
Konferens
36th IEEE International Conference on Consumer Electronics (ICCE), Las Vegas, NV, USA, Jan. 12-14, 2018
Forskningsfinansiär
KK-stiftelsen
Anmärkning

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

Tillgänglig från: 2017-12-14 Skapad: 2017-12-14 Senast uppdaterad: 2018-11-22Bibliografiskt granskad
Ingår i avhandling
1. On the Design and Testing of Dependable Autonomous Systems
Öppna denna publikation i ny flik eller fönster >>On the Design and Testing of Dependable Autonomous Systems
2018 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Designing software-intensive embedded systems for dependable autonomous applications is challenging. In addition to fulfilling complex functional requirements, the system must be safe under all operating conditions, even in the presence of faults. The key to achieving this is by simulating and testing the system enough, including possible faults that can be expected, to be confident that it reaches an acceptable level of performance with preserved safety. However, as the complexity of an autonomous system and its application grows, it becomes exponentially more difficult to perform exhaustive testing and explore the full state space, which makes the task a significant challenge.

Property-Based Testing (PBT) is a software testing technique where tests and input stimuli for a system are automatically generated based on specified properties of the system, and it is normally used for testing software libraries. PBT is not a formal proof that the system fulfills the specified properties, but an effective way to find deviations from them. Safety-critical systems that must be able to deal with hardware faults are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. In this thesis, we utilize techniques from PBT and FI, for automatically testing functional and safety requirements of autonomous system simultaneously. We have done this on both simulations of hardware, and on real-time hardware for autonomous systems. This has been done in the process of developing a quadcopter system with collision avoidance, as well as when developing a self-driving model car. With this work we explore how tests can be auto-generated with techniques from PBT and FI, and how this approach can be used at several abstraction levels during the development of these systems. We also explore which details and design choices have to be considered while developing our simulators and embedded software, to ease testing with our proposed methods.

Ort, förlag, år, upplaga, sidor
Halmstad: Halmstad University Press, 2018. s. 171
Serie
Halmstad University Dissertations ; 52
Nationell ämneskategori
Datorteknik
Identifikatorer
urn:nbn:se:hh:diva-38403 (URN)978-91-88749-10-9 (ISBN)978-91-88749-11-6 (ISBN)
Disputation
2018-12-19, Wigforssalen, Visionen, Kristian IV:s väg 3, Halmstad, 13:15 (Engelska)
Opponent
Handledare
Tillgänglig från: 2018-11-26 Skapad: 2018-11-22 Senast uppdaterad: 2019-04-25Bibliografiskt granskad

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