hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Towards a Complete Safety Framework for Longitudinal Driving
Halmstad University, School of Information Technology.ORCID iD: 0000-0001-8587-2251
Lund University, Lund, Sweden.
Halmstad University, School of Information Technology.ORCID iD: 0000-0002-9738-4148
Halmstad University, School of Information Technology. University of Passau, Passau, Germany.ORCID iD: 0000-0003-4894-4134
2022 (English)In: IEEE Transactions on Intelligent Vehicles, ISSN 2379-8858, E-ISSN 2379-8904, Vol. 7, no 4, p. 809-814Article in journal (Refereed) Published
Abstract [en]

Formal models for the safety validation of autonomous vehicles have become increasingly important. To this end, we present a safety framework for longitudinal automated driving. This framework allows calculating minimum safe inter-vehicular distances for arbitrary ego vehicle control policies. We use this framework to enhance the Responsibility-Sensitive Safety (RSS) model and models based on it, which fail to cover situations where the ego vehicle has a higher decelerating capacity than its preceding vehicle. For arbitrary ego vehicle control policies, we show how our framework can be applied by substituting real (possibly computationally intractable) controllers with upper bounding functions. This comprises a general approach for longitudinal safety, where safety guarantees for the upper-bounded system are equivalent to those for the original system but come at the expense of larger inter-vehicular distances. 

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2022. Vol. 7, no 4, p. 809-814
Keywords [en]
Automated Driving, Brakes, Collision Avoidance, Responsibility-Sensitive Safety, Roads, Safety, Safety Validation, Switches, Time factors, Trajectory, Vehicle-to-Vehicle Communications, Vehicular ad hoc networks
National Category
Energy Engineering
Identifiers
URN: urn:nbn:se:hh:diva-48532DOI: 10.1109/TIV.2022.3209910ISI: 000906805200003Scopus ID: 2-s2.0-85139526718OAI: oai:DiVA.org:hh-48532DiVA, id: diva2:1706895
Available from: 2022-10-28 Created: 2022-10-28 Last updated: 2024-03-05Bibliographically approved
In thesis
1. Cooperative Automated Driving for Enhanced Safety and Ethical Decision-Making
Open this publication in new window or tab >>Cooperative Automated Driving for Enhanced Safety and Ethical Decision-Making
2024 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Advances in technologies for vehicular communication enable new applications for Cooperative Intelligent Transportation Systems (C-ITS). Communicating vehicles share information and cooperate, which allows for improved safety, fuel economy, and traffic efficiency. Platooning – a coordinated string of vehicles with small Inter-Vehicle Distances (IVDs) – comprises one such C-ITS application. Any C-ITS application must comply with high safety requirements to pass standardization and be commercially deployed. Moreover, trusted solutions should be guaranteed even for critical scenarios or rare edge cases. This thesis presents two sets of contributions related to cooperative automated driving. Firstly, it provides conditions ensuring safe platooning or vehicle following. Secondly, it introduces an ethical framework to guide autonomous decision-making in scenarios involving imminent collisions. In the first set of contributions, we consider emergency braking scenarios for vehicles driving in a platoon or following each other. In such scenarios, the lead vehicle suddenly brakes. This requires swift responses from followers to prevent rear-end collisions. Here, Vehicle-to-Everything (V2X) communication has the potential to significantly reduce reaction times by allowing the lead vehicle to notify followers of the emergency braking. The presented safety analysis yields computationally efficient methods and algorithms for calculating minimum IVDs for rear-end collision avoidance. The IVDs are computed for closed-loop and open-loop configurations. The open-loop configuration implies followers drive with a constant velocity until the onset of braking, whereas in the closed-loop configuration, a controller is used under some restrictions. In addition, a centralized approach for optimization of IVDs in platoon formations is carried out. Such an approach allows for improved fuel consumption and road utilization. An analytical comparison shows that our proposed Vehicle-to-Vehicle (V2V) communication-based solution is superior to classic automated systems, such as automatic emergency braking system, which utilizes only onboard sensors. Wireless communication provides intentions to vehicles almost immediately, which allows for smaller IVDs while guaranteeing the same level of safety.

In the second set of contributions, an ethical framework to guide autonomous decision-making is presented. Even though collisions resulting from edge cases are unlikely, it is essential to address them in motion planning logic for autonomous vehicles. Decisions made in such situations should always prioritize ethical considerations, such as saving human lives. Adhering to ethical principles in the development and deployment of autonomous vehicles is essential for fostering public understanding and acceptance. The thesis presents a framework of ethical V2X communication, where V2X is acknowledged as an essential means for enabling autonomous vehicles to perform coordinated actions to meet certain ethical criteria. The presented framework demonstrates how the risk or harm resulting from unavoidable collisions can be mitigated or redistributed under ethical considerations through cooperation between vehicles. Overall, the presented thesis highlights the importance of C-ITS and, specifically, V2X communication in managing emergency scenarios. V2X communication enables faster response times and facilitates cooperative maneuvers, which helps preventing rear-end collisions or mitigating their consequences under ethical considerations. Future work directions include an extension of the obtained results by considering more advanced models of vehicles, environment, and communication settings; and applying the proposed frameworks to more complicated traffic scenarios.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2024. p. 163
Series
Halmstad University Dissertations ; 110
Keywords
Cooperative Intelligent Transportation System (C-ITS), cooperative vehicles, Vehicle-to-Vehicle (V2V) communication, V2X communications, automated driving, platooning, emergency braking, road safety, vehicular safety, ITS-G5, IEEE 802.11p, ethical dilemmas, ethical decision-making, autonomous driving ethics
National Category
Communication Systems Telecommunications Control Engineering
Identifiers
urn:nbn:se:hh:diva-52837 (URN)978-91-89587-34-2 (ISBN)978-91-89587-33-5 (ISBN)
Public defence
2024-03-28, Wigforss, Kristian IV:s väg 3, Halmstad, Halmstad, 10:15 (English)
Opponent
Supervisors
Available from: 2024-03-07 Created: 2024-03-05 Last updated: 2024-03-08Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Sidorenko, GalinaThunberg, JohanVinel, Alexey

Search in DiVA

By author/editor
Sidorenko, GalinaThunberg, JohanVinel, Alexey
By organisation
School of Information Technology
In the same journal
IEEE Transactions on Intelligent Vehicles
Energy Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 37 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf