Browsing by Author "Rastelli, Joshue Perez"
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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 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 Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever: Application to the Overtaking Manuever(2020) Garrido, Fernando; Gonzalez, Leonardo; Milanes, Vicente; Perez, Joshue; Nashashibi, Fawzi; Rastelli, Joshue Perez; CCAMThis paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.