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Automated Testing of Ultra-Wideband Positioning for Autonomous Driving
RISE Research Institutes of Sweden, Gothenburg, Sweden.ORCID iD: 0000-0003-1713-3726
RISE Research Institutes of Sweden, Gothenburg, Sweden.
RISE Research Institutes of Sweden, Gothenburg, Sweden.ORCID iD: 0000-0002-6191-6253
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS).ORCID iD: 0000-0002-6526-3931
(English)Manuscript (preprint) (Other academic)
Abstract [en]

Autonomous vehicles need accurate and dependable positioning, and these systems need to be tested extensively. We have evaluated positioning based on Ultra-Wide Band (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 that 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, restore the state between tests and to maintain safety by preventing collisions. We were able to automatically generate and carry out hundreds of experiments on the model car in real time, and re-run them consistently with and without fault injection enabled. Thereby we demonstrate one novel approach to perform automated testing on complex real-time hardware.

Keywords [en]
RTK GNSS, odometry, testbed, positioning, ultra-wideband, automated testing, model-based testing, Fault Injection, Property-Based Testing, open source, sensor fusion
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:hh:diva-38408OAI: oai:DiVA.org:hh-38408DiVA, id: diva2:1265086
Funder
Knowledge Foundation, EISIGSEU, Horizon 2020, PRoPART (776307)VINNOVA, Chronos 1 and 2
Note

Som manuskript i avhandling. / As manuscript in dissertation.

Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2018-11-26Bibliographically approved
In thesis
1. On the Design and Testing of Dependable Autonomous Systems
Open this publication in new window or tab >>On the Design and Testing of Dependable Autonomous Systems
2018 (English)Doctoral thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2018. p. 171
Series
Halmstad University Dissertations ; 52
National Category
Computer Engineering
Identifiers
urn:nbn:se:hh:diva-38403 (URN)978-91-88749-10-9 (ISBN)978-91-88749-11-6 (ISBN)
Public defence
2018-12-19, Wigforssalen, Visionen, Kristian IV:s väg 3, Halmstad, 13:15 (English)
Opponent
Supervisors
Available from: 2018-11-26 Created: 2018-11-22 Last updated: 2018-11-26

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Vedder, BenjaminJonsson, Magnus

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2829303132333431 of 54
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