Browsing by Keyword "Automated vehicles"
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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 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 Parametric-based path generation for automated vehicles at roundabouts(2017-04-01) González, David; Perez, Joshue; Milanés, Vicente; CCAMUrban environments are becoming more and more complex because several factors as consecutive cross- roads or lanes changes. These scenarios demand specific infrastructures—i.e. roundabouts, for improving traffic flow compared with traditional intersections. A roundabout removes timeouts associated with traf- fic lights at crossroads and trajectory conflicts among drivers. However, it is a challenging scenario for both humans and automated vehicles. This work presents a path planning method for automated vehi- cle driving at roundabouts. The proposed system achieves a G 1 continuous path, minimizing curvature steps to increase smoothness, dividing the driving process in three stages: entrance maneuver, driving within the roundabout and exit maneuver. Parametric equations are generated to deal with automated roundabout driving. This approach allows a real time planning considering two-lane roundabouts, taking different exits. Tests in simulated environments and on our prototype platform—Cybercar—validate the system on real urban environments, showing the proper behavior of the system.Item Towards conformant models of automated electric vehicles(IEEE, 2018-10-31) Lattarulo, Ray A.; Heb, Daniel; Matute, Jose A.; Perez, Joshue; Hes, Daniel; CCAMAutomated driving is one of the major tendencies in last decades, and it is presented as a reliable option to improve comfort during driving, including disable and elder in society and increasing persons safety in roads. This last topic produces the question how is it possible to verify planning and control algorithms for a reliable commercial use of this technology. The question can be answered from two perspective: experimental or formal methods, where the formal one is selected as the most robust between both. Hence, the current work presents a case study verification in automated driving for lane change and double lane change maneuvers, using as basis a trace conformance method presented in [1]. The verification method is performed in Dynacar as a precise multibody simulator tuned for a commercial Renault Twizy vehicle.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.