Browsing by Author "González, Leonardo"
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Item ANALISIS DE RIESGOS DE CIBERSEGURIDAD EN ARQUITECTURA DE VEHICULOS AUTOMATIZADOS(2018) González, Leonardo; Vaca, Myriam; Lattarulo, Ray A.; Calvo, Isidro; Perez, Joshue; Ruiz, AlejandraLos vehiculos conectados y automatizados han sido recientemente concebidos como entes ci- berf sicos, estrechamente relacionados con la red del Internet de las cosas (IoT). Este hecho supone un incremento en la super cie de ataque del veh culo, que junto a la creciente tendencia hacia veh culos automatizados, hacen que estos riesgos de ciberseguridad puedan tener conse- cuencias catastr o cas en seguridad vial. En el presente trabajo se expone un an alisis de riesgos de ciberseguridad en el marco de una arquitectura de veh culos automatizados. Este an alisis previo se realiza en el contexto de dos escenarios de estudio en maniobras cooperativas. Inicialmente se presenta un estado del arte de la ciberseguridad en automoci on, as como tambi en su repercusi on en entornos automatizados, haciendo especialenfasis en las comunicaciones entre veh culos y con infraestructura. Adem as, se analizan dos maniobras cooperativas, y se ilustran una serie de posibles ataques en la plataforma.Item Towards Risk Estimation in Automated Vehicles Using Fuzzy Logic(Springer Verlag, 2018) González, Leonardo; Martí, Enrique; Calvo, Isidro; Ruiz, Alejandra; Pérez, Joshue; Bitsch, Friedemann; Skavhaug, Amund; Gallina, Barbara; Schoitsch, Erwin; CCAM; Tecnalia Research & Innovation; QuantumAs vehicles get increasingly automated, they need to properly evaluate different situations and assess threats at run-time. In this scenario automated vehicles should be able to evaluate risks regarding a dynamic environment in order to take proper decisions and modulate their driving behavior accordingly. In order to avoid collisions, in this work we propose a risk estimator based on fuzzy logic which accounts for risk indicators regarding (1) the state of the driver, (2) the behavior of other vehicles and (3) the weather conditions. A scenario with two vehicles in a car-following situation was analyzed, where the main concern is to avoid rear-end collisions. The goal of the presented approach is to effectively estimate critical states and properly assess risk, based on the indicators chosen.Item Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety(2018) Lattarulo, Ray; González, Leonardo; Martí, Enrique; Matute, José; Marcano, Mauricio; Pérez, Joshue; CCAM; Tecnalia Research & InnovationIn last decades, great technology advances have been done related to the automotive sector, especially in Advanced Driver Assistance Systems (ADAS) developed to improve mobility in terms of comfort and safety during driving process; hence, automated driving is presented as an evolution of those systems in the present and upcoming years. The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners. Parametric Bézier curves are used as the core approach for trajectory design in intersections, roundabouts, and lane change maneuvers. Additionally, a speed planner algorithm is presented using the same parametric curve approach, considering comfort and safety. A simulation environment is used for testing the planning method in urban conditions. Finally, tests with the real platform in automated mode have been performed showing goods results.