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  • 1.
    Aramrattana, Maytheewat
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Göteborg, Sweden.
    A Simulation-Based Safety Analysis of CACC-Enabled Highway Platooning2018Doktoravhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Cooperative Intelligent Transport Systems (C-ITS) enable actors in the transport systems to interact and collaborate by exchanging information via wireless communication networks. There are several challenges to overcome before they can be implemented and deployed on public roads. Among the most important challenges are testing and evaluation in order to ensure the safety of C-ITS applications.

    This thesis focuses on testing and evaluation of C-ITS applications with regard to their safety using simulation. The main focus is on one C-ITS application, namely platooning, that is enabled by the Cooperative Adaptive Cruise Control (CACC) function. Therefore, this thesis considers two main topics: i) what should be modelled and simulated for testing and evaluation of C-ITS applications? and ii) how should CACC functions be evaluated in order to ensure safety?

    When C-ITS applications are deployed, we can expect traffic situations which consist of vehicles with different capabilities, in terms of automation and connectivity. We propose that involving human drivers in testing and evaluation is important in such mixed traffic situations. Considering important aspects of C-ITS including human drivers, we propose a simulation framework, which combines driving-, network-, and traffic simulators. The simulation framework has been validated by demonstrating several use cases in the scope of platooning. In particular, it is used to demonstrate and analyse the safety of platooning applications in cut-in situations, where a vehicle driven by a human driver cuts in between vehicles in platoon. To assess the situations, time-to-collision (TTC) and its extensions are used as safety indicators in the analyses.

    The simulation framework permits future C-ITS research in other fields such as human factors by involving human drivers in a C-ITS context. Results from the safety analyses show that cut-in situations are not always hazardous, and two factors that are the most highly correlated to the collisions are relative speed and distance between vehicles at the moment of cutting in. Moreover, we suggest that to solely rely on CACC functions is not sufficient to handle cut-in situations. Therefore, guidelines and standards are required to address these situations properly.

  • 2.
    Aramrattana, Maytheewat
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Modelling and Simulation for Evaluation of Cooperative Intelligent Transport System Functions2016Licentiatavhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Future vehicles are expected to be equipped with wireless communication tech- nology, that enables them to be “connected” to each others and road infras- tructures. Complementing current autonomous vehicles and automated driving systems, the wireless communication allows the vehicles to interact, cooperate, and be aware of its surroundings beyond their own sensors’ range. Such sys- tems are often referred to as Cooperative Intelligent Transport Systems (C-ITS), which aims to provide extra safety, efficiency, and sustainability to transporta- tion systems. Several C-ITS applications are under development and will require thorough testing and evaluation before their deployment in the real-world. C- ITS depend on several sub-systems, which increase their complexity, and makes them difficult to evaluate.

    Simulations are often used to evaluate many different automotive appli- cations, including C-ITS. Although they have been used extensively, simulation tools dedicated to determine all aspects of C-ITS are rare, especially human fac- tors aspects, which are often ignored. The majority of the simulation tools for C-ITS rely heavily on different combinations of network and traffic simulators. The human factors issues have been covered in only a few C-ITS simulation tools, that involve a driving simulator. Therefore, in this thesis, a C-ITS simu- lation framework that combines driving, network, and traffic simulators is pre- sented. The simulation framework is able to evaluate C-ITS applications from three perspectives; a) human driver; b) wireless communication; and c) traffic systems.

    Cooperative Adaptive Cruise Control (CACC) and its applications are cho- sen as the first set of C-ITS functions to be evaluated. Example scenarios from CACC and platoon merging applications are presented, and used as test cases for the simulation framework, as well as to elaborate potential usages of it. Moreover, approaches, results, and challenges from composing the simulation framework are presented and discussed. The results shows the usefulness of the proposed simulation framework.

  • 3.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Detournay, J.
    Swedish National Transport Research Institute, Gothenburg, SE-402 78, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Frimodig, Viktor
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Jansson, Oscar Uddman
    Swedish National Transport Research Institute, Gothenburg, SE-402 78, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Mostowski, Wojciech
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Díez Rodríguez, Víctor
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Rosenstatter, Thomas
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Shahanoor, Golam
    Högskolan i Halmstad, Akademin för informationsteknologi.
    Team Halmstad Approach to Cooperative Driving in the Grand Cooperative Driving Challenge 20162018Inngår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 19, nr 4, s. 1248-1261Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper is an experience report of team Halmstad from the participation in a competition organised by the i-GAME project, the Grand Cooperative Driving Challenge 2016. The competition was held in Helmond, The Netherlands, during the last weekend of May 2016. We give an overview of our car’s control and communication system that was developed for the competition following the requirements and specifications of the i-GAME project. In particular, we describe our implementation of cooperative adaptive cruise control, our solution to the communication and logging requirements, as well as the high level decision making support. For the actual competition we did not manage to completely reach all of the goals set out by the organizers as well as ourselves. However, this did not prevent us from outperforming the competition. Moreover, the competition allowed us to collect data for further evaluation of our solutions to cooperative driving. Thus, we discuss what we believe were the strong points of our system, and discuss post-competition evaluation of the developments that were not fully integrated into our system during competition time. © 2000-2011 IEEE.

  • 4.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). RISE Viktoria, Göteborg, Sweden.
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Safety Analysis of Cooperative Adaptive Cruise Control in Vehicle Cut-in Situations2017Inngår i: Proceedings of 2017 4th International Symposium on Future Active Safety Technology towards Zero-Traffic-Accidents (FAST-zero), Society of Automotive Engineers of Japan , 2017, artikkel-id 20174621Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Cooperative adaptive cruise control (CACC) is a cooperative intelligent transport systems (C-ITS) function, which especially when used in platooning applications, possess many expected benefits including efficient road space utilization and reduced fuel consumption. Cut-in manoeuvres in platoons can potentially reduce those benefits, and are not desired from a safety point of view. Unfortunately, in realistic traffic scenarios, cut-in manoeuvres can be expected, especially from non-connected vehicles. In this paper two different controllers for platooning are explored, aiming at maintaining the safety of the platoon while a vehicle is cutting in from the adjacent lane. A realistic scenario, where a human driver performs the cut-in manoeuvre is used to demonstrate the effectiveness of the controllers. Safety analysis of CACC controllers using time to collision (TTC) under such situation is presented. The analysis using TTC indicate that, although potential risks are always high in CACC applications such as platooning due to the small inter-vehicular distances, dangerous TTC (TTC < 6 seconds) is not frequent. Future research directions are also discussed along with the results.

  • 5.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Göteborg, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). RISE Viktoria, Göteborg, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Göteborg, Sweden.
    Safety Evaluation of Highway Platooning Under a Cut-In Situation Using Simulation2018Inngår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Platooning refers to an application, where a group of connected and automated vehicles follow a lead vehicle autonomously, with short inter-vehicular distances. At merging points on highways such as on-ramp, platoons could encounter manually driven vehicles, which are merging on to the highways. In some situations, the manually driven vehicles could end up between the platooning vehicles. Such situations are expected and known as “cut-in” situations. This paper presents a simulation study of a cut-in situation, where a platoon of five vehicles encounter a manually driven vehicle at a merging point of a highway. The manually driven vehicle is driven by 37 test persons using a driving simulator. For the platooning vehicles, two longitudinal controllers with four gap settings between the platooning vehicles, i.e. 15 meters, 22.5 meters, 30 meters, and 42.5 meters, are evaluated. Results summarizing cut-in behaviours and how the participants perceived the situation are presented. Furthermore, the situation is assessed using safety indicators based on time-to-collision.

  • 6.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). RISE Viktoria, Gothenburg, Sweden.
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Simulation of Cut-In by Manually Driven Vehicles in Platooning Scenarios2017Inngår i: 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), Piscataway, NJ: IEEE, 2017, s. 1-6Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In the near future, Cooperative Intelligent Transport System (C-ITS) applications are expected to be deployed. To support this, simulation is often used to design and evaluate the applications during the early development phases. Simulations of C-ITS scenarios often assume a fleet of homogeneous vehicles within the transportation system. In contrast, once C-ITS is deployed, the traffic scenarios will consist of a mixture of connected and non-connected vehicles, which, in addition, can be driven manually or automatically. Such mixed cases are rarely analysed, especially those where manually driven vehicles are involved. Therefore, this paper presents a C-ITS simulation framework, which incorporates a manually driven car through a driving simulator interacting with a traffic simulator, and a communication simulator, which together enable modelling and analysis of C-ITS applications and scenarios. Furthermore, example usages in the scenarios, where a manually driven vehicle cut-in to a platoon of Cooperative Adaptive Cruise Control (CACC) equipped vehicles are presented. © 2017 IEEE.

  • 7.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab). Viktoria Swedish ICT, Gothenburg, Sweden.
    Dimensions of Cooperative Driving, ITS and Automation2015Inngår i: 2015 IEEE Intelligent Vehicles Symposium (IV), Piscataway, NJ: IEEE Press, 2015, s. 144-149Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Wireless technology supporting vehicle-to-vehicle (V2V), and vehicle-to-infrastructure (V2I) communication, allow vehicles and infrastructures to exchange information, and cooperate. Cooperation among the actors in an intelligent transport system (ITS) can introduce several benefits, for instance, increase safety, comfort, efficiency. Automation has also evolved in vehicle control and active safety functions. Combining cooperation and automation would enable more advanced functions such as automated highway merge and negotiating right-of-way in a cooperative intersection. However, the combination have influences on the structure of the overall transport systems as well as on its behaviour. In order to provide a common understanding of such systems, this paper presents an analysis of cooperative ITS (C-ITS) with regard to dimensions of cooperation. It also presents possible influence on driving behaviour and challenges in deployment and automation of C-ITS.

  • 8.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    A simulation framework for cooperative intelligent transport systems testing and evaluation2019Inngår i: Transportation Research Part F: Traffic Psychology and Behaviour, ISSN 1369-8478, E-ISSN 1873-5517, Vol. 61, s. 268-280Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Connected and automated driving in the context of cooperative intelligent transport systems (C-ITS) is an emerging area in transport systems research. Interaction and cooperation between actors in transport systems are now enabled by the connectivity by means of vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communication. To ensure the goals of C-ITS, which are safer and more efficient transport systems, testing and evaluation are required before deployment of C-ITS applications. Therefore, this paper presents a simulation framework—consisting of driving-, traffic-, and network-simulators—for testing and evaluation of C-ITS applications. Examples of cooperative adaptive cruise control (CACC) applications are presented, and are used as test cases for the simulation framework as well as to elaborate on potential use cases of it. Challenges from combining the simulators into one framework, and limitations are reported and discussed. Finally, the paper concludes with future development directions, and applications of the simulation framework in testing and evaluation of C-ITS. © 2017 Elsevier Ltd. All rights reserved.

  • 9.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Cooperative Driving Simulation2016Inngår i: Proceedings of the Driving Simulation Conference 2016, 2016, s. 123-132Konferansepaper (Fagfellevurdert)
    Abstract [en]

    For a few decades, driving simulators have been supporting research and development of advanced driver assistance systems (ADAS). In the near future, connected vehicles are expected to be deployed. Driving simulators will need to support evaluation of cooperative driving applications within cooperative intelligent transportation systems (C-ITS) scenarios. C-ITS utilize vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communication. Simulation of the inter vehicle communication is often not supported in driving simulators. On the other hand, previous efforts have been made to connect network simulators and traffic simulators, to perform C-ITS simulations. Nevertheless, interactions between actors in the system is an essential aspect of C-ITS. Driving simulators can provide the opportunity to study interactions and reactions of human drivers to the system. This paper present simulation of a C-ITS scenario using a combination of driving, network, and traffic simulators. The architecture of the solution and important challenges of the integration are presented. A scenario from Grand Cooperative Driving Challenge (GCDC) 2016 is implemented in the simulator as an example use case. Lastly, potential usages and future developments are discussed.

  • 10.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Jansson, Jonas
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Nåbo, Arne
    The Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Extended Driving Simulator for Evaluation of Cooperative Intelligent Transport Systems2016Inngår i: SIGSIM-PADS '16: Proceedings of the 2016 annual ACM Conference on SIGSIM Principles of Advanced Discrete Simulation, New York: ACM Digital Library, 2016, s. 255-278Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Vehicles in cooperative intelligent transport systems (C-ITS) often need to interact with each other in order to achieve their goals, safe and efficient transport services. Since human drivers are still expected to be involved in C-ITS, driving simulators are appropriate tools for evaluation of the C-ITS functions. However, driving simulators often simplify the interactions or influences from the ego vehicle on the traffic. Moreover, they normally do not support vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communication, which is the main enabler for C-ITS. Therefore, to increase the C-ITS evaluation capability, a solution on how to extend a driving simulator with traffic and network simulators to handle cooperative systems is presented as a result of this paper. Evaluation of the result using two use cases is presented. And, the observed limitations and challenges of the solution are reported and discussed. © 2016 ACM, Inc.

  • 11.
    Aramrattana, Maytheewat
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Patel, Raj Haresh
    Communication Systems Department, EURECOM, Sophia-Antipolis, France.
    Englund, Cristofer
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS). RISE Viktoria, Gothenburg, Sweden.
    Härri, Jérôme
    Communication Systems Department, EURECOM, Sophia-Antipolis, France.
    Jansson, Jonas
    Swedish National Road and Transport Research Institute (VTI), Linköping, Sweden.
    Bonnet, Christian
    Communication Systems Department, EURECOM, Sophia-Antipolis, France.
    Evaluating Model Mismatch Impacting CACC Controllers in Mixed2018Inngår i: 2018 IEEE Intelligent Vehicles Symposium (IV), IEEE, 2018, s. 1867-1872Konferansepaper (Fagfellevurdert)
    Abstract [en]

    At early market penetration, automated vehicles will share the road with legacy vehicles. For a safe transportation system, automated vehicle controllers therefore need to estimate the behavior of the legacy vehicles. However, mismatches between the estimated and real human behaviors can lead to inefficient control inputs, and even collisions in the worst case. In this paper, we propose a framework for evaluating the impact of model mismatch by interfacing a controller under test with a driving simulator. As a proof- of-concept, an algorithm based on Model Predictive Control (MPC) is evaluated in a braking scenario. We show how model mismatch between estimated and real human behavior can lead to a decrease in avoided collisions by almost 46%, and an increase in discomfort by almost 91%. Model mismatch is therefore non-negligible and the proposed framework is a unique method to evaluate them. © 2018 IEEE.

  • 12.
    Fan, Yuantao
    et al.
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Aramrattana, Maytheewat
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Shahbandi, Saeed Gholami
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Nemati, Hassan Mashad
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Åstrand, Björn
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Infrastructure Mapping in Well-Structured Environments Using MAV2016Inngår i: Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349, Vol. 9716, s. 116-126Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper, we present a design of a surveying system for warehouse environment using low cost quadcopter. The system focus on mapping the infrastructure of surveyed environment. As a unique and essential parts of the warehouse, pillars from storing shelves are chosen as landmark objects for representing the environment. The map are generated based on fusing the outputs of two different methods, point cloud of corner features from Parallel Tracking and Mapping (PTAM) algorithm with estimated pillar position from a multi-stage image analysis method. Localization of the drone relies on PTAM algorithm. The system is implemented in Robot Operating System(ROS) and MATLAB, and has been successfully tested in real-world experiments. The result map after scaling has a metric error less than 20 cm. © Springer International Publishing Switzerland 2016.

  • 13.
    Pelliccione, Patrizio
    et al.
    Chalmers University of Technology, University of Gothenburg, Gothenburg, Sweden.
    Kobetski, Avenir
    SICS, Stockholm, Sweden.
    Larsson, Tony
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES).
    Aramrattana, Maytheewat
    Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS), Centrum för forskning om inbyggda system (CERES). VTI, Gothenburg, Sweden.
    Aderum, Tobias
    Autoliv Research, Vårgårda, Sweden.
    Ågren, S. Magnus
    Chalmers University of Technology, University of Gothenburg, Gothenburg, Sweden.
    Jonsson, Göran
    Volvo Cars, Gothenburg, Sweden.
    Heldal, Rogardt
    Chalmers University of Technology, University of Gothenburg, Gothenburg, Sweden.
    Bergenhem, Carl
    Qamcom Research and Technology AB, Gothenburg, Sweden.
    Thorsén, Anders
    RISE Research Institutes of Sweden, Safety and Transport, Borås, Sweden.
    Architecting cars as constituents of a system of systems2016Inngår i: SiSoS@ECSA '16 Proceedings of the International Colloquium on Software-intensive Systems-of-Systems at 10th European Conference on Software Architecture, New York, NY: ACM Press, 2016, s. 1-7Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Future transportation systems will be a heterogeneous mix of items with varying connectivity and interoperability. A mix of new technologies and legacy systems will co-exist to realize a variety of scenarios involving not only connected cars but also road infrastructures, pedestrians, cyclists, etc. Future transportation systems can be seen as a System of Systems (SoS), where each constituent system - one of the units that compose an SoS - can act as a standalone system, but the cooperation among the constituent systems enables new emerging and promising scenarios. In this paper we investigate how to architect cars so that they can be constituents of future transportation systems. This work is realized in the context of two Swedish projects coordinated by Volvo Cars and involving some universities and research centers in Sweden and many suppliers of the OEM, including Autoliv, Arccore, Combitech, Cybercom, Knowit, Prevas, ÅF-Technology, Semcom, and Qamcom. © 2016 Association for Computing Machinery. All rights reserved.

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