Browsing by Author "Lattarulo, Ray"
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Item Citymobil2: San Sebastian ARTS demonstration(2017) Murgoitio, Jesus; Izaguirre, Maria; Inclan, Asier; Perez, Joshue; Lattarulo, RayThe Automated Road Transport Systems (ARTS) is an urban mobility concept based on two ideas: car sharing and automated capabilities with door-to door solutions. This paper presents a description of the integration of the last large demonstration (3 months) in the city of San Sebastian together with a risk evaluation study. The main safety issues regarding the proposed track and vehicles are addressed, taking into account the maximum speed allowed per segment and comfortable accelerations for passengers, in order to avoid unacceptable risks. Appropriate modifications have been carried out in the infrastructure in order to adapt the new vehicles’ performance to future smart cities. A description of the general control architecture and technical/functional specifications of the ARTS involved in the demonstrator is presented. This paper describes the achievements and results of this demonstration, showing the viability of this kind of vehicle in the near future.Item A Comparison Between Coupled and Decoupled Vehicle Motion Controllers Based on Prediction Models(IEEE, 2019-06) Matute, Jose A.; Lattarulo, Ray; Zubizarreta, Asier; Perez, Joshue; CCAMIn this work, a comparative study is carried out with two different predictive controllers that consider the longitudinal jerk and steering rate change as additional parameters, as additional parameters, so that comfort constraints can be included. Furthermore, the approaches are designed so that the effect of longitudinal and lateral motion control coupling can be analyzed. This way, the first controller is a longitudinal and lateral coupled MPC approach based on a kinematic model of the vehicle, while the second is a decoupled strategy based on a triple integrator model based on MPC for the longitudinal control and a double proportional curvature control for the lateral motion control. The control architecture and motion planning are exhaustively explained. The comparative study is carried out using a test vehicle, whose dynamics and low-level controllers have been simulated using the realistic simulation environment Dynacar. The performed tests demonstrate the effectiveness of both approaches in speeds higher than 30 km/h, and demonstrate that the coupled strategy provides better performance than the decoupled one. The relevance of this work relies in the contribution of vehicle motion controllers considering the comfort and its advantage over decoupled alternatives for future implementation in real vehicles.Item A complete framework for developing and testing automated driving controllers(2017-07) Lattarulo, Ray; Perez, Joshue; Dendaluze, Martin; Dendaluce, Martin; CCAM; Tecnalia Research & InnovationIntelligent vehicles have improved their highly and fully automated driving capacities in the last years. Most of the developments are driven by the fast evolution of embedded systems for the acquisition, perception and communication modules. However, the fast growing of the automated vehicle market demands modern tools for validation, integration and testing of these new embedded functionalities, specially related to Advanced Driving Assistance Systems (ADAS). In this paper, a testing methodology for validation of path planning and control algorithms for current and future automated vehicles is presented. A high degree of modularity and adaptability have been considered in the design of the proposed method. It is based on a software tool for vehicle modeling, called Dynacar, which allows a good trajectory definition, cooperative maneuvers interaction and virtual validation. Different types of vehicles, scenarios (i.e.: urban, interurban, highways under different environmental conditions) and controllers can be tested. Moreover, Hardware-In-the-Loop configuration (i.e. electronic control units) can be also tested. Simulation results show a good performance in the implementation and configuration of urban scenarios, using different controllers in the proposed frameworkItem Early Safety Assessment of Automotive Systems Using Sabotage Simulation-Based Fault Injection Framework(Springer Verlag, 2017) Juez, Garazi; Amparan, Estibaliz; Lattarulo, Ray; Ruíz, Alejandra; Perez, Joshue; Espinoza, Huascar; Bitsch, Friedemann; Tonetta, Stefano; Schoitsch, Erwin; Tecnalia Research & Innovation; CIBERSEC&DLT; CCAM; QuantumAs road vehicles increase their autonomy and the driver reduces his role in the control loop, novel challenges on dependability assessment arise. Model-based design combined with a simulation-based fault injection technique and a virtual vehicle poses as a promising solution for an early safety assessment of automotive systems. To start with, the design, where no safety was considered, is stimulated with a set of fault injection simulations (fault forecasting). By doing so, safety strategies can be evaluated during early development phases estimating the relationship of an individual failure to the degree of misbehaviour on vehicle level. After having decided the most suitable safety concept, a second set of fault injection experiments is used to perform an early safety validation of the chosen architecture. This double-step process avoids late redesigns, leading to significant cost and time savings. This paper presents a simulation-based fault injection approach aimed at finding acceptable safety properties for model-based design of automotive systems. We focus on instrumenting the use of this technique to obtain fault effects and the maximum response time of a system before a hazardous event occurs. Through these tangible outcomes, safety concepts and mechanisms can be more accurately dimensioned. In this work, a prototype tool called Sabotage has been developed to set up, configure, execute and analyse the simulation results. The feasibility of this method is demonstrated by applying it to a Lateral Control system.Item Evaluating ARTS in San Sebastian(Elsevier, 2018-04-25) Murgoitio, Jesus; Izaguirre, Maria; Inclan, Asier; Perez, Joshue; Lattarulo, RayThe Automated Road Transport Systems (ARTS) is an urban mobility concept based on two ideas: car sharing and automated capabilities with door-to door solutions. In this paper, a description of the integration of the last large demonstration (3 months) in the San Sebastian city, with a risk evaluation study, is presented. The main safety issues regarding to the proposed track and vehicles are addressed, but considering the maximum speed allowed per segments and the comfortable accelerations of the passengers, in order to do not present unacceptable risks. The modifications have been carried out in the infrastructure, in order to adapt the new vehicles performance in the future smart cities. A description of the general control architecture and technical/functional specifications of the ARTS involved in the demonstrator is presented. This paper describes the achievements and results of this demonstration, showing the viability of this kind of vehicles in a near future.Item Fast Real-Time Trajectory Planning Method with 3rd-Order Curve Optimization for Automated Vehicles(IEEE, 2020-09-20) Lattarulo, Ray; Perez, Joshue; CCAMAutomated driving (AD) is one of the fastest-growing tendencies in the Intelligent Transportation Systems (ITS) field with some interesting demonstrations and prototypes. Currently, the main research topics are aligned with vehicle communications, environment recognition, control, and decision-making. A real-time trajectory planning method for Automated vehicles (AVs) is presented in this paper; the contribution is part of AD’s decision-making module. This novel approach uses the properties of the 3er order Bézier curves to generate fast and reliable vehicle trajectories. Online execution and vehicle tracking capacities are considered on the approach. A feasible trajectory is selected based on the criteria: (i) the vehicle must be contained by a collision-free corridor given by an upper decision layer, (ii) the vehicle must be capable to track the generated trajectory, and (iii) the continuity of the path and curvature must be preserved in the joints. Our approach was tested considering a vehicle length (automated bus) of 12 meters. The scenario has the dimension of a real test location with multiple roundabouts.Item Fault injection method for safety and controllability evaluation of automated driving(IEEE, 2017-07-31) Uriagereka, Garazi Juez; Lattarulo, Ray; Rastelli, Joshue Perez; Calonge, Estibaliz Amparan; Ruiz Lopez, Alejandra; Espinoza Ortiz, Huascar; Tecnalia Research & Innovation; CCAM; CIBERSEC&DLT; QuantumAdvanced Driver Assistance Systems (ADAS) and automated vehicle applications based on embedded sensors have become a reality today. As road vehicles increase its autonomy and the driver shares his role in the control loop, novel challenges on their dependability assessment arise. One key issue is that the notion of controllability becomes more complex when validating the robustness of the automated vehicle in the presence of faults. This paper presents a simulation-based fault injection approach aimed at finding acceptable controllability properties for the model-based design of control systems. We focus on determining the best fault models inserting exceptional conditions to accelerate the identification of specific areas for testing. In our work we performed fault injection method to find the most appropriate safety concepts, controllability properties and fault handling strategies at early design phases of lateral control functions based on the error in the Differential GPS signal.Item A Linear Model Predictive Planning Approach for Overtaking Manoeuvres Under Possible Collision Circumstances(IEEE, 2018-10-18) Lattarulo, Ray; He, Daniel; Perez, Joshue; Heß, Daniel; CCAMOvertaking is one of the most difficult tasks during driving. This manoeuvre demands good skills to accomplish it correctly. In the overtaking considering multiple vehicles (more than a couple) is necessary to understand, predict and coordinate future actions of the other participants. These reasons make it a significant scenario for testing in the connected and automated driving field, with the main goal of predicting safe future states. In this sense, this work presents an overtaking method based on a linear Model Predictive Control (MPC) approach, which considers multiple participants involved in the scenario. This method adapts dynamically the trajectory for the manoeuvre in case of unexpected situations. Some of these changes consider other vehicles coming on the opposite lane or variations on participants' driving decisions. Additionally, the system considers passengers' comfort, the vehicle physical constraints and lateral actions of the vehicle decoupled of the longitudinal ones to simplify the problem.Item Low Speed Longitudinal Control Algorithms for Automated Vehicles in Simulation and Real Platforms(2018) Marcano, Mauricio; Matute, José A.; Lattarulo, Ray; Martí, Enrique; Pérez, Joshué; CCAM; Tecnalia Research & InnovationAdvanced Driver Assistance Systems (ADAS) acting over throttle and brake are already available in level 2 automated vehicles. In order to increase the level of automation new systems need to be tested in an extensive set of complex scenarios, ensuring safety under all circumstances. Validation of these systems using real vehicles presents important drawbacks: the time needed to drive millions of kilometers, the risk associated with some situations, and the high cost involved. Simulation platforms emerge as a feasible solution.Therefore, robust and reliable virtual environments to test automated driving maneuvers and control techniques are needed. In that sense, this paper presents a use case where three longitudinal low speed control techniques are designed, tuned, and validated using an in-house simulation framework and later applied in a real vehicle. Control algorithms include a classical PID, an adaptive network fuzzy inference system (ANFIS), and a Model Predictive Control (MPC). The simulated dynamics are calculated using a multibody vehicle model. In addition, longitudinal actuators of a Renault Twizy are characterized through empirical tests. A comparative analysis of results between simulated and real platform shows the effectiveness of the proposed framework for designing and validating longitudinal controllers for real automated vehicles.Item Overtaking maneuver for automated driving using virtual enviroments(Springer, 2018) Lattarulo, Ray; Marcano, Mauricio; Perez, JoshueAmong the driving possible scenarios in highways, the over- taking maneuver is one of the most challenging. Its high complexity along with the interest in automated cooperative vehicles make this maneuver one of the most studied topics on the eld on last years. It involves a great interaction between both longitudinal (throttle and brake) and lat- eral (steering) actuators. This work presents a three phases overtaking path planning using B ezier curves, with special interest in the continuity of the curvature. Communication among the vehicles is also considered. Finally, the maneuver will be validated using Dynacar, a dynamic model vehicle simulator.Item Platoon Merging Approach Based on Hybrid Trajectory Planning and CACC Strategies(2021-04-08) Hidalgo, Carlos; Lattarulo, Ray; Flores, Carlos; Pérez Rastelli, Joshué; CCAMCurrently, the increase of transport demands along with the limited capacity of the road network have increased traffic congestion in urban and highway scenarios. Technologies such as Cooperative Adaptive Cruise Control (CACC) emerge as efficient solutions. However, a higher level of cooperation among multiple vehicle platoons is needed to improve, effectively, the traffic flow. In this paper, a global solution to merge two platoons is presented. This approach combines: (i) a longitudinal controller based on a feed-back/feed-forward architecture focusing on providing CACC capacities and (ii) hybrid trajectory planning to merge platooning on straight paths. Experiments were performed using Tecnalia’s previous basis. These are the AUDRIC modular architecture for automated driving and the highly reliable simulation environment DYNACAR. A simulation test case was conducted using five vehicles, two of them executing the merging and three opening the gap to the upcoming vehicles. The results showed the good performance of both domains, longitudinal and lateral, merging multiple vehicles while ensuring safety and comfort and without propagating speed changes.Item Real-Time Trajectory Planning Method Based On N-Order Curve Optimization(Institute of Electrical and Electronics Engineers Inc., 2020-10-08) Lattarulo, Ray; Gonzalez, Leonardo; Perez, Joshue; Barbulescu, Lucian-Florentin; CCAMIn recent years, many functionalities were developed for Automated Vehicles (AVs) and some of them with close-to-market prototypes. A required topic is the generation of continuous trajectories that reduces the amount of discrete and pre-coded instructions while leading the vehicle safely. Consequently, this work presents a novel real-time trajectory planning approach based on numerical optimization of n-order Bézier curves and lane-based information. The generation of a feasible trajectory considers the vehicle dimension while driving into a lane-corridor. The nonlinear optimization problem was solved with the Bound Optimization BY Quadratic Approximation method (BOBYQA), and it uses the passengers' comfort, safety, and vehicle dynamics as constraints of the problem. The solution is validated in a simulation environment using a bus with a length of 12 meters. Moreover, the validation considered the roundabouts due to its complexity, nevertheless, the solution is scalable to other scenarios.Item Safety assessment of automated vehicle functions by simulation-based fault injection(IEEE, 2017-07-27) Juez, Garazi; Amparan, Estibaliz; Lattarulo, Ray; Rastelli, Joshue Perez; Ruiz, Alejandra; Espinoza, Huascar; Tecnalia Research & Innovation; CIBERSEC&DLT; CCAM; QuantumAs automated driving vehicles become more sophisticated and pervasive, it is increasingly important to assure its safety even in the presence of faults. This paper presents a simulation-based fault injection approach (Sabotage) aimed at assessing the safety of automated vehicle functions. In particular, we focus on a case study to forecast fault effects during the model-based design of a lateral control function. The goal is to determine the acceptable fault detection interval for permanent faults based on the maximum lateral error and steering saturation. In this work, we performed fault injection simulations to derive the most appropriate safety goals, safety requirements, and fault handling strategies at an early concept phase of an ISO 26262-compliant safety assessment process.Item A Speed Planner Approach Based On Bézier Curves Using Vehicle Dynamic Constrains and Passengers Comfort(IEEE, 2018-05) Lattarulo, Ray; Marti, Enrique; Marcano, Mauricio; Matute, Jose; Perez, Joshue; CCAM; Tecnalia Research & InnovationThis paper presents a speed profile generation approach for longitudinal control of automated vehicles, based on quintic Bézier curves. The described method aims to increase comfort level of passengers based on the ISO2631-1 specification, while taking into account vehicle dynamics and traffic rules to keep high safety levels. The algorithm has been tested in an in-house tool for high accuracy vehicle dynamics simulations, called Dynacar. The considered scenario is a closed circuit inside Tecnalia facilities. The resulting profile has better properties (for example, rate of change) than a raw input based on traffic speed limits. When used as reference for the speed controller, it improves both comfort and safety.Item Study of the lane change maneuver: automated driving use case(2017) Lattarulo, Ray; Perez, JoshueNowadays, the idea of a completely interconnected city with infrastructure, vehicles and even the humans on a connectivity loop is a reality.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.