Alexey Voronov

The Grand Cooperative Driving Challenge 2016: boosting the introduction of cooperative automated vehicles

The Grand Cooperative Driving Challenge (GCDC), with the aim to boost the introduction of cooperative automated vehicles by means of wireless communication, is presented. Experiences from the previous edition of GCDC, which was held in Helmond in the Netherlands in 2011, are summarized, and an overview and expectations of the challenges in the 2016 edition are discussed. Two challenge scenarios, cooperative platoon merge and cooperative intersection passing, are specified and presented. One demonstration scenario for emergency vehicles is designed to showcase the benefits of cooperative driving. Communications closely follow the newly published cooperative intelligent transport system standards, while interaction protocols are designed for each of the scenarios. For the purpose of interoperability testing, an interactive testing tool is designed and presented. A general summary of the requirements on teams for participating in the challenge is also presented.

Verification of process operations using model checking

In order to decrease time to market for products it is important to decrease the time for implementation and debugging of the control logic that are used to manufacture the products. In this paper, an approach based on a high-level specification of the relations between process operations and resources and the use of formal verification is presented. By using formal verification it is possible to find potential errors within the specification at an early stage in the development process. In this work it is shown how the high-level specifications may be translated into extended finite automata, and how these extended finite automata may be efficiently verified using the symbolic model checking tool, NuSMV. It is also shown how the presented approach is suitable for verification of general supervisory control properties like controllability and non-blocking.

SAT-Solving in Practice, with a Tutorial Example from Supervisory Control

Satisfiability solving, the problem of deciding whether the variables of a propositional formula can be assigned in such a way that the formula evaluates to true, is one of the classic problems in computer science. It is of theoretical interest because it is the canonical NP-complete problem. It is of practical interest because modern SAT-solvers can be used to solve many important and practical problems. In this tutorial paper, we show briefly how such SAT-solvers are implemented, and point to some typical applications of them. Our aim is to provide sufficient information (much of it through the reference list) to kick-start researchers from new fields wishing to apply SAT-solvers to their problems. Supervisory control theory originated within the control community and is a framework for reasoning about a plant to be controlled and a specification that the closed-loop system must fulfil. This paper aims to bridge the gap between the computer science community and the control community by illustrating how SAT-based techniques can be used to solve some supervisory control related problems.

Supervisory control using satisfiability solvers

This paper discusses how satisfiability solvers may be used to verify and synthesize discrete event supervisors as defined in the supervisory control theory. By using the supervisory control theory it is possible to generate control functions that are correct by construction. However, the computations for verification and synthesis of the supervisors are NP-complete and in order to make the method applicable for industrial use it is necessary to use algorithms and tools that could solve problems of industrial size. Within the model checking community satisfiability solvers have become an important tool for verification of large hardware circuits. In this paper it is shown how to formulate some problems in the supervisory control theory as Boolean satisfiability problems. Formulations of satisfiability problems for synthesizing a path to a marked state, verification of controllability and verification of deadlock presence are presented. The method is evaluated on some examples of high complexity.

Interaction Protocol for Highway Platoon Merge

An interaction protocol for cooperative platoon merge on highways is proposed. The interaction protocol facilitates a challenge scenario for the Grand Cooperative Driving Challenge (GCDC) 2016, where two platoons running on separate lanes merge into one platoon due to a roadwork in one of the lanes. Detailed interaction procedures, described with state machines of each vehicle are presented. A communication message set is designed to support platoon controllers to perform safe and efficient manoeuvres.

Interactive Test Tool for Interoperable C-ITS Development

This paper presents the architecture of an Interactive Test Tool (ITT) for interoperability testing of Cooperative Intelligent Transport Systems (C-ITS). Cooperative systems are developed by different manufacturers at different locations, which makes interoperability testing a tedious task. Up until now, interoperability testing is performed during physical meetings where the C-ITS devices are placed within range of wireless communication, and messages are exchanged. The ITT allows distributed (e.g. over Internet) interoperability testing starting from the network Transport Layer and all the way up to the Application Layer, e.g. to platooning. ITT clients can be implemented as Hardware-in-the-Loop, thus allowing to combine physical and virtual vehicles. Since the ITT considers each client as a black box, manufacturers can test together without revealing internal implementations to each other. The architecture of the ITT allows users to easily switch between physical wireless networking and virtual ITT networking. Therefore, only one implementation of the ITS communication stack is required for both development and testing, which reduces the work overhead and ensures that the stack that is used during the testing is the one deployed in the real world.

The application of data mining techniques to model visual distraction of bicyclists

A novel approach to modelling visual distraction of bicyclists is presented.A bicycle simulator for road traffic safety research is presented.We combine random forests for variable selection and support vector machine for modelling.A combination of qualitative and quantitative data provides the best results.The method may be used for automated vehicles to detect distracted bicyclists. This paper presents a novel approach to modelling visual distraction of bicyclists. A unique bicycle simulator equipped with sensors capable of capturing the behaviour of the bicyclist is presented. While cycling two similar scenario routes, once while simultaneously interacting with an electronic device and once without any electronic device, statistics of the measured speed, head movements, steering angle and bicycle road position along with questionnaire data are captured. These variables are used to model the self-assessed distraction level of the bicyclist. Data mining techniques based on random forests, support vector machines and neural networks are evaluated for the modelling task. Out of the total 71 measured variables a variable selection procedure based on random forests is able to select a fraction of those and consequently improving the modelling performance. By combining the random forest-based variable selection and support vector machine-based modelling technique the best overall performance is achieved. The method shows that with a few observable variables it is possible to use machine learning to model, and thus predict, the distraction level of a bicyclist.

Cooperative Automated Maneuvering at the 2016 Grand Cooperative Driving Challenge

Cooperative adaptive cruise control and platooning are well-known applications in the field of cooperative automated driving. However, extension toward maneuvering is desired to accommodate common highway maneuvers, such as merging, and to enable urban applications. To this end, a layered control architecture is adopted. In this architecture, the tactical layer hosts the interaction protocols, describing the wireless information exchange to initiate the vehicle maneuvers, supported by a novel wireless message set, whereas the operational layer involves the vehicle controllers to realize the desired maneuvers. This hierarchical approach was the basis for the Grand Cooperative Driving Challenge (GCDC), which was held in May 2016 in The Netherlands. The GCDC provided the opportunity for participating teams to cooperatively execute a highway lane-reduction scenario and an urban intersection-crossing scenario. The GCDC was set up as a competition and, hence, also involving assessment of the teams’ individual performance in a cooperative setting. As a result, the hierarchical architecture proved to be a viable approach, whereas the GCDC appeared to be an effective instrument to advance the field of cooperative automated driving.

Formulating constraint satisfaction problems for the inspection of configuration rules

Abstract Product configuration is when an artifact from a product family is assembled from a set of predefined components that can only be combined in certain ways. These ways are defined by configuration rules. The product developers inspect the configuration rules when they develop new configuration rules or modify the configuration rules set. The inspection of configuration rules is thereby an important activity to avoid errors in the configuration rules set. Several formulations of constraint satisfaction problems (CSPs) are proposed that facilitate the inspection of configuration rules in propositional logic (IF-THEN, AND, NOT, OR, etc.). Many of the configuration rules are so called production rules; that is, a configuration rule is an IF-THEN expression that fires when the IF condition is met. Several configuration rules build chains that fire during the product configuration. It is therefore important not only to inspect single configuration rules but also to analyze the effect of multiple configuration rules. Formulating the tasks as variations of the CSP can support the inspection activity. More specifically, we address the reformulation of configuration rules, testing of feature variant combinations, and counting of item quantities from an item set. The suggested CSPs are tested on industrial vehicle configuration rules for computational performance. The results show that the time for achieving results from the solving of the CSP is within seconds. Our future work will be to implement the various CSPs into a demonstrator that could be tested by product developers.

Coordinating dangerous goods vehicles: C-ITS applications for safe road tunnels

Despite the existing regulation efforts and measures, vehicles with dangerous goods still pose significant risks on public safety, especially in road tunnels. Solutions based on cooperative intelligent transportation system (C-ITS) are promising measures, however, they have received limited attention. We propose C-ITS applications that coordinate dangerous goods vehicles to minimize the risk by maintaining safe distances between them in road tunnels. Different mechanisms, including global centralized coordination, global distributed coordination, and local coordination, are proposed and investigated. A preliminary simulation is performed and demonstrates their effectiveness.