A5000191823- Traffic control and management
- Autonomous Vehicle Technology and Safety
- Software Testing and Debugging Techniques
- Formal Methods in Verification
- Robotic Path Planning Algorithms
- Smart Parking Systems Research
- Advanced Control Systems Optimization
- Vehicle Dynamics and Control Systems
- Real-time simulation and control systems
- Petri Nets in System Modeling
- Vehicular Ad Hoc Networks (VANETs)
- Embedded Systems Design Techniques
- Transportation and Mobility Innovations
- Parallel Computing and Optimization Techniques
- Advanced Manufacturing and Logistics Optimization
- Machine Learning and Algorithms
- Real-Time Systems Scheduling
Denso (Germany)
2019-2024
AmeriCorps
1995
Search-based software testing (SBST) is an effective and efficient approach for automated driving systems (ADS). However, pipelines ADS are particularly challenging as they involve integrating complex simulation platforms establishing communication protocols APIs with the desired search algorithm. This complexity prevents a wide adoption of SBST thorough empirical comparative experiments different simulators approaches. We present OpenSBT, open-source, modular extensible framework to...
Object-oriented extensions to hardware description languages let engineers model systems at a higher level of abstraction, thus helping them manage design complexity and maximize component reuse. OO-VHDL, the object-oriented extension VHDL that we describe in this article, supports computation reactive within same system. We hope will help modelers develop smooth transition from abstract models detailed models. In implementing extensions, were guided by one goal: providing language as...
We introduce a distributed control method for coordinating multiple vehicles in the framework of an automated valet parking (AVP) system. The functionality is between infrastructure server, called area management (PAM) system, and local autonomous vehicle units. Via vehicle-to-infrastructure (V2I) communication interface, model predictive (MPC) decisions are shared with coordination unit PAM. This turn computes coupling feedback which vehicles. system integrated test-system to cope high test...
We propose an intersection crossing algorithm for autonomous vehicles with vehicle to infrastructure (V2I) communication capability. All attempting cross the share their expected time of entering a critical zone based on decentralized model predictive control (MPC) results. These suggestions are collected at central management (IM) unit, which is responsible coordinating vehicles. A time-based negotiation process between and IM conducted find safe solution. An advantage approach that...
Solving the problem of intersection crossing for autonomous vehicles is a challenging task due to combined combinatoric and dynamical control decisions. To reduce complexity computations distribute resulting global optimization problem, we propose scheduling-control method. Thereby, in this paper, focus on formulation resource-constrained-project-scheduling (RCPSP) solve decision, i.e. order which cross an area central coordination unit. This considers decisions from vehicles, are computed...
We propose a distributed trajectory generation method for connected autonomous vehicles. It is integrated in an intersection crossing scenario where we assume given vehicle order provided by high-level scheduling unit. The multi-vehicle framework modeled local independent dynamics with coupling constraints between neighboring Each the computes parallel model predictive control (MPC) decision, which shared its neighbors after conducting convex Jacobi update step. procedure can be iteratively...
The development of highly automated driving functions requires rigorous testing to demonstrate the safety and functionality vehicle. One open question is how perform such tests sufficiently prove vehicle's capabilities. Designing a proper platform particularly important for multi-vehicle scenarios, because test setups with actual real vehicles are not scalable. This paper proposes mixed-reality framework which seamlessly combines virtual testing. authors conducted experiment an valet parking...
This article proposes a distributed control methodology for the coordination of multiple connected and automated vehicles (CAVs). Each vehicle computes its local trajectory based on model predictive (MPC) law communicates result with other relevant vehicles. In an iterative negotiation process, planned trajectories are optimized within sampling time step. Inspired by Jacobi over-relaxation (JOR) algorithm, we develop algorithm (DJOR) coordination. The modified exploits structure problem...