Real-time coordination of autonomous vehicles

Bouroche, Mélanie; Hughes, Barbara; Cahill, Vinny

doi:10.1109/itsc.2006.1707391

Cited by 15 publications

(33 citation statements)

References 12 publications

(20 reference statements)

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“…For example, cars can build small platoons for saving fuel, autonomous driving, or following the current traffic flow through the city. Beside these advantages, platooning has high demands on a real-time communication between cars and positioning accuracy [41,71]. Another example could be cameras placed along the roads to detect traffic jams [179].…”

Section: Running Examplementioning

confidence: 99%

“…41. Accordingly, the example comprises two system templates, where the smart car is modeled on the top and the smart city system template on the bottom of the figure.…”

Section: Adaptive Layered Architecture Examplementioning

confidence: 99%

“…41. As shown, the smart city system in the example consists of two smart car system instances named audi and bmw.…”

Section: Adaptive Layered Architecture Examplementioning

confidence: 99%

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Modeling Collaborations in Adaptive Systems of Systems

Wätzoldt

Giese

2015

Proceedings of the 2015 European Conference on Software Architecture Workshops

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Recently, due to an increasing demand on functionality and flexibility, beforehand isolated systems have become interconnected to gain powerful adaptive System of Systems (SoS) solutions with an overall robust, flexible and emergent behavior. The adaptive SoS comprises a variety of different system types ranging from small embedded to adaptive cyber-physical systems. On the one hand, each system is independent, follows a local strategy and optimizes its behavior to reach its goals. On the other hand, systems must cooperate with each other to enrich the overall functionality to jointly perform on the SoS level reaching global goals, which cannot be satisfied by one system alone. Due to difficulties of local and global behavior optimizations conflicts may arise between systems that have to be solved by the adaptive SoS.This thesis proposes a modeling language that facilitates the description of an adaptive SoS by considering the adaptation capabilities in form of feedback loops as first class entities. Moreover, this thesis adopts the Models@runtime approach to integrate the available knowledge in the systems as runtime models into the modeled adaptation logic. Furthermore, the modeling language focuses on the description of system interactions within the adaptive SoS to reason about individual system functionality and how it emerges via collaborations to an overall joint SoS behavior. Therefore, the modeling language approach enables the specification of local adaptive system behavior, the integration of knowledge in form of runtime models and the joint interactions via collaboration to place the available adaptive behavior in an overall layered, adaptive SoS architecture.Beside the modeling language, this thesis proposes analysis rules to investigate the modeled adaptive SoS, which enables the detection of architectural patterns as well as design flaws and pinpoints to possible system threats. Moreover, a simulation framework is presented, which allows the direct execution of the modeled SoS architecture. Therefore, the analysis rules and the simulation framework can be used to verify the interplay between systems as well as the modeled adaptation effects within the SoS. This thesis realizes the proposed concepts of the modeling language by mapping them to a state of the art standard from the automotive domain and thus, showing their applicability to actual systems. Finally, the modeling language approach is evaluated by remodeling up to date research scenarios from different domains, which demonstrates that the modeling language concepts are powerful enough to cope with a broad range of existing research problems.-I - Zusammenfassung

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Section: Running Examplementioning

confidence: 99%

“…41. Accordingly, the example comprises two system templates, where the smart car is modeled on the top and the smart city system template on the bottom of the figure.…”

Section: Adaptive Layered Architecture Examplementioning

confidence: 99%

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Modeling Collaborations in Adaptive Systems of Systems

Wätzoldt

Giese

2015

Proceedings of the 2015 European Conference on Software Architecture Workshops

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“…We base our formalisation of distributed coordination on previous work by Bourouche [5] and Sin et al [22]. The basic idea behind this model is that vehicles do not need to fully agree on a shared state in order to achieve safe coordination.…”

Section: Distributed Coordinationmentioning

confidence: 99%

A Formal Approach to Autonomous Vehicle Coordination

Asplund

Manzoor

Bouroche

et al. 2012

FM 2012: Formal Methods

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Abstract. Increasing demands on safety and energy efficiency will require higher levels of automation in transportation systems. This involves dealing with safety-critical distributed coordination. In this paper we demonstrate how a Satisfiability Modulo Theories (SMT) solver can be used to prove correctness of a vehicular coordination problem. We formalise a recent distributed coordination protocol and validate our approach using an intersection collision avoidance (ICA) case study. The system model captures continuous time and space, and an unbounded number of vehicles and messages. The safety of the case study is automatically verified using the Z3 theorem prover.

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“…On the other hand, satellite navigation protocols provide accurate clock synchronisation to the level of nanoseconds. Moreover, in many cases strict agreement is not required for successful coordination [3], [8]. Often, it suffices for most vehicles to refrain from a certain action for the situation to be safe.…”

Section: Introductionmentioning

confidence: 99%

Specification, Implementation and Verification of Dynamic Group Membership for Vehicle Coordination

Asplund

Lövhall

Villani

2017

2017 IEEE 22nd Pacific Rim International Symposium on Dependable Computing (PRDC)

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Abstract-New advanced traffic management solutions with fully or semi-autonomous vehicles that communicate over a wireless interface to coordinate their driving decisions create new challenges in distributed computing. In this paper we address the problem of dynamic group membership in three stages. First, we propose three criteria to specify correctness and performance of the group views created by such algorithms in terms of soundness, completeness and freshness. Second, we develop a group membership protocol tailored for vehicular coordination. Finally, we show through simulation and model-based verification that the protocol does indeed meet the criteria and provide at least 95% perfect group membership views under as adverse conditions as 70% packet loss or very high churn rate.

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Real-time coordination of autonomous vehicles

Cited by 15 publications

References 12 publications

Modeling Collaborations in Adaptive Systems of Systems

Modeling Collaborations in Adaptive Systems of Systems

A Formal Approach to Autonomous Vehicle Coordination

Specification, Implementation and Verification of Dynamic Group Membership for Vehicle Coordination

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