Scribd Logo
Upload

Welcome to Scribd!

  • 304 views

    2016 06 09 Poster ISPE Ömer Sahin Tas IV2016

    Uploaded by

    fmannan
    The document discusses functional system architectures for fully automated driving. It reviews existing architectures from projects like BOSS, SHELLEY, BERTHA and DEEVA. These architectures aim to provide robust and reliable operation through features like distributed architecture, system monitoring, separation of modules, feedback between components, and dealing with uncertain or conflicting sensor information. The document also discusses safety concepts from automated vehicles that monitor progress and issue recovery instructions if the mission is obstructed.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    2016 06 09 Poster ISPE Ömer Sahin Tas IV2016

    Uploaded by

    fmannan
    304 views1 page
    The document discusses functional system architectures for fully automated driving. It reviews existing architectures from projects like BOSS, SHELLEY, BERTHA and DEEVA. These architectures aim to provide robust and reliable operation through features like distributed architecture, system monitoring, separation of modules, feedback between components, and dealing with uncertain or conflicting sensor information. The document also discusses safety concepts from automated vehicles that monitor progress and issue recovery instructions if the mission is obstructed.

    Original Description:

    poster ispe

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    The document discusses functional system architectures for fully automated driving. It reviews existing architectures from projects like BOSS, SHELLEY, BERTHA and DEEVA. These architectures aim to provide robust and reliable operation through features like distributed architecture, system monitoring, separation of modules, feedback between components, and dealing with uncertain or conflicting sensor information. The document also discusses safety concepts from automated vehicles that monitor progress and issue recovery instructions if the mission is obstructed.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    304 views1 page

    2016 06 09 Poster ISPE Ömer Sahin Tas IV2016

    Uploaded by

    fmannan
    The document discusses functional system architectures for fully automated driving. It reviews existing architectures from projects like BOSS, SHELLEY, BERTHA and DEEVA. These architectures aim to provide robust and reliable operation through features like distributed architecture, system monitoring, separation of modules, feedback between components, and dealing with uncertain or conflicting sensor information. The document also discusses safety concepts from automated vehicles that monitor progress and issue recovery instructions if the mission is obstructed.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 1

    FUNCTIONAL SYSTEM ARCHITECTURES TOWARDS FULLY

    AUTOMATED DRIVING
    Ömer Şahin Taş, Florian Kuhnt, J. Marius Zöllner and Christoph Stiller
    MOTIVATION
    System architectures:
    ··Play a crucial role on the robust and reliable operation of
    the vehicle
    ··Can coordinate the degradation between system modules
    Review existing system architectures and propose research

    INFORMATION TECHNOLOGY
    directives for maintaining robust and reliable operation.

    FEATURES OF ROBUST AND RELIABLE ARCHITECTURES


    ·· distributed architecture ·· feedback from the controller to the motion planning
    ·· system monitoring ·· separation of modules
    ·· ··

    FZI RESEARCH CENTER FOR


    recovery instructions graceful degradation of software functions
    ·· redundant and complementary types of sensors ·· deal with conflicting sensor and map information
    ·· consider the propagation of uncertain sensor information

    FUNCTIONAL SAFETY CONCEPTS OF STATE OF THE ART AUTOMATED VEHICLES

    BOSS (2007) A1 (2012)


    ·· Monitors the progress of the vehicle ··
    Very basic monitoring system
    and in case the mission is repeatedly
    obstructed, issues recovery.
    ··
    The system management module
    ensures safe operation
    K. Jo et. al. „Development of Autonomous Car - Part II: A case study on the implementation of an autonomous
    Urmson C., et. al. „Autonomous Driving in Urban Environments: Boss and the Urban Challenge“, 2008. driving system based on distributed architecture“, 2015.

    SHELLEY (2012) CMU-CADILLAC SRX (2013)


    ·· Performs controlled stop in case of ··
    Based on the architecture of ‘‘Boss”

    ··
    logical inaccuracies
    The monitoring system is separated
    ··
    Evaluates controller performance inside
    motion planner

    http://images.hgmsites.net/hug/stanford-audi-tts-autonomous-pikes-peak-car-aka-shelley_100315127_h.jpg,
    from other modules both in hardware
    and in software
    ··
    Cannot deal with conflicting perception
    information http://gmauthority.com/blog/wp-content/uploads/2013/05/2014-Cadillac-SRX-720x340.jpg,
    Date retrieved: June 15, 2016.
    Date retrieved: June 15, 2016.

    BERTHA (2013) DEEVA (2014)


    ·· Vision based localization ··
    360° short and long range vision FOV
    ·· Robust against deterioration effects ··
    360° LIDAR FOV
    due to satellite occlusion and
    multipath propagation
    ··
    Cannot deal with conflicting information
    Broggi A., et. al. „The Deeva autonomous vehicle platform“, 2015.

    Ziegler J., et. al. „Making Bertha Drive - An Autonomous Journey on a Historic Route“, 2014.

    ULM UNIVERSITY (2015) JACK (2015)


    ·· Covers its environment with at least
    two different types of sensors.
    ··
    Deals with the discrepancies in
    perception and map
    ·· Uses a probabilistic centralized sensor
    fusion system
    ··
    Switches into degraded operation
    modes, if needed
    Kunz F., et. al. „Autonomous driving at Ulm University: A modular, robust, and sensor-independent fusion approach“, 2015.
    http://auto-geil.de/wp-content/gallery/mit-dem-audia7-piloted-driving-concept-auf-der-autobahn-a9/
    2015-pilotiertes-fahren-audi-a7-jack-autobahn-a9-08.jpg, Date retrieved: June 15, 2016.

    FUTURE WORK
    ·· Integrate the existing solution approaches into a unified architecture.
    ·· Employ various metrics that quantify performance status and give feedback to the vehicle.
    ·· Use the feedback to adapt data processing into degraded operation modes.

    Taş Ö.Ş. et. al. “A Robust and Reliable Functional System Architecture for Fully Automated Driving”,
    in IEEE Proc. Intell. Trans. Sys. Conf., 2016 (under review).

    YOUR FZI Research Center for Information Technology | Mobile Perception Systems
    CONTACT
    M.Sc. Ömer Şahin Taş |tas@fzi.de| +49 721 9654-262
    More Information at www.fzi.de The research leading to these results has received
    funding from the European Union under the
    H2020 EU.2.1.1.7. ECSEL Programme, as part of
    the RobustSENSE project, contract number 661933

    You might also like

    pFad - Phonifier reborn

    Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

    Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


    Alternative Proxies:

    Alternative Proxy

    pFad Proxy

    pFad v3 Proxy

    pFad v4 Proxy