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Publikasjoner (7 av 7) Visa alla publikasjoner
Vedder, B., Vinter, J. & Jonsson, M. (2018). A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving. Journal of Robotics, Article ID 4907536.
Åpne denne publikasjonen i ny fane eller vindu >>A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving
2018 (engelsk)Inngår i: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, artikkel-id 4907536Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

Accurate positioning is a requirement for many applications, including safety-critical autonomous vehicles. To reduce cost and at the same time improving accuracy for positioning of autonomous vehicles, new methods, tools, and research platforms are needed. We have created a low-cost testbed consisting of electronics and software that can be fitted on model vehicles allowing them to follow trajectories autonomously with a position accuracy of around 3 cm outdoors. The position of the vehicles is derived from sensor fusion between Real-Time Kinematic Satellite Navigation (RTK-SN), odometry, and inertial measurement and performs well within a 10 km radius from a base station. Trajectories to be followed can be edited with a custom GUI, where also several model vehicles can be controlled and visualized in real time. All software and Printed Circuit Boards (PCBs) for our testbed are available as open source to make customization and development possible. Our testbed can be used for research within autonomous driving, for carrying test equipment, and other applications where low cost and accurate positioning and navigation are required.

Emneord
Costs, Equipment testing, Open source software, Open systems, Safety engineering, Testbeds, Vehicles, Autonomous driving, Autonomous Vehicles, Inertial measurements, Position accuracy, Printed circuit board (PCBs), Real time kinematic, Research platforms, Satellite navigation, Printed circuit boards
HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-36676 (URN)10.1155/2018/4907536 (DOI)2-s2.0-85058336224 (Scopus ID)
Merknad

 Funding details: Fellowships Fund Incorporated; Funding details: VINNOVA; Funding details: Knowledge Foundation;

Tilgjengelig fra: 2018-12-21 Laget: 2018-12-21 Sist oppdatert: 2023-05-23bibliografisk kontrollert
Vedder, B., Vinter, J. & Jonsson, M. (2018). Accurate positioning of bicycles for improved safety. In: : . Paper presented at 2018 IEEE International Conference on Consumer Electronics (ICCE) (pp. 1-6).
Åpne denne publikasjonen i ny fane eller vindu >>Accurate positioning of bicycles for improved safety
2018 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Cyclists are not well protected in accidents with other road users, and there are few active safety systems available for bicycles. In this study we have evaluated the use of inexpensive Real-Time Kinematic Satellite Navigation (RTK-SN) receivers with multiple satellite constellations together with dead reckoning for accurate positioning of bicycles to enable active safety functions such as collision warnings. This is a continuation of previous work were we concluded that RTK-SN alone is not sufficient in moderately dense urban areas as buildings and other obstructions degrade the performance of RTK-SN significantly. In this work we have added odometry to the positioning system as well as extending RTK-SN with multiple satellite constellations to deal with situations where the view of the sky is poor and thus fewer satellites are in view. To verify the performance of the positioning system we have used Ultra-Wideband radios as an independent positioning system to compare against while testing during poor conditions for RTK-SN. We were able to verify that adding dead reckoning and multiple satellite constellations improves the performance significantly under poor conditions and makes the positioning system more useful for active safety systems.

Emneord
alarm systems, bicycles, distance measurement, radio receivers, road accidents, road safety, safety systems, satellite navigation, multiple satellite constellations, active safety systems, accurate positioning, improved safety, Real-Time Kinematic Satellite Navigation receivers, RTK-SN, dead reckoning, active safety functions, moderately dense urban areas, independent positioning system, collision warnings, ultra-wideband radios, RNA, Integrated circuits, Conferences, Consumer electronics, RTK GPS, odometry, testbed, bicycle, positioning, ultra-wideband
HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-34333 (URN)10.1109/ICCE.2018.8326237 (DOI)2-s2.0-85048765893 (Scopus ID)
Konferanse
2018 IEEE International Conference on Consumer Electronics (ICCE)
Tilgjengelig fra: 2018-08-07 Laget: 2018-08-07 Sist oppdatert: 2023-05-23bibliografisk kontrollert
Skoglund, M., Petig, T., Vedder, B., Eriksson, H. & Schiller, E. (2016). Static and dynamic performance evaluation of low-cost RTK GPS receivers. In: 2016 IEEE Intelligent Vehicles Symposium: . Paper presented at 2016 IEEE Intelligent Vehicles Symposium (IV).
Åpne denne publikasjonen i ny fane eller vindu >>Static and dynamic performance evaluation of low-cost RTK GPS receivers
Vise andre…
2016 (engelsk)Inngår i: 2016 IEEE Intelligent Vehicles Symposium, 2016Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

The performance of low-cost RTK(real-time kinematic)GPS receivers hasbeen compared to a state-of-the-art system as well to each other. Both static and dynamic performanceshavebeen compared. The dynamic performance has been evaluated using a vehicle with driving robot on the AstaZero proving ground.The assembly of the low-cost RTK GPS receivers is presented, and the test set-ups described. Besides having a lower data output frequency, two of the low-cost receivers have static and dynamic performance not far fromthat of the state-of-the-art system.

HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-48943 (URN)10.1109/IVS.2016.7535357 (DOI)
Konferanse
2016 IEEE Intelligent Vehicles Symposium (IV)
Prosjekter
Itransit
Merknad

Research supported by Swedish Transport Administration/Skyltfonden through contract TRV 2015/15562, and Swedish Governmental Agency for Innovation Systems/FFI through contracts 2015-02330 and 2015-03112.

Tilgjengelig fra: 2020-10-01 Laget: 2020-10-01 Sist oppdatert: 2023-05-25bibliografisk kontrollert
Vedder, B., Eriksson, H., Skarin, D., Vinter, J. & Jonsson, M. (2015). Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization (ed.). In: : . Paper presented at Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA (pp. 193-203).
Åpne denne publikasjonen i ny fane eller vindu >>Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization
Vise andre…
2015 (engelsk)Konferansepaper, Publicerat paper (Annet vitenskapelig)
Abstract [en]

We present a quadcopter platform built with commodity hardware that is able to do localization in GNSS-denied areas and avoid collisions by using a novel easy-to-setup and inexpensive ultrasound-localization system. We address the challenge to accurately estimate the copter's position and not hit any obstacles, including other, moving, quadcopters. The quadcopters avoid collisions by placing contours that represent risk around static and dynamic objects and acting if the risk contours overlap with ones own comfort zone. Position and velocity information is communicated between the copters to make them aware of each other. The shape and size of the risk contours are continuously updated based on the relative speed and distance to the obstacles and the current estimated localization accuracy. Thus, the collision-avoidance system is autonomous and only interferes with human or machine control of the quadcopter if the situation is hazardous. In the development of this platform we used our own simulation system using fault-injection (sensor faults, communication faults) together with automatically-generated tests to identify problematic scenarios for which the localization and risk contour parameters had to be adjusted. In the end, we were able to run thousands of simulations without any collisions, giving us confidence that also many real quadcopters can manoeuvre collision free in space-constrained GNSS-denied areas.

HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-6882 (URN)10.1109/ICUAS.2015.7152291 (DOI)2-s2.0-84941030880 (Scopus ID)29527 (Lokal ID)29527 (Arkivnummer)29527 (OAI)
Konferanse
Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA
Tilgjengelig fra: 2016-09-08 Laget: 2016-09-08 Sist oppdatert: 2023-05-23bibliografisk kontrollert
Vedder, B., Arts, T., Vinter, J. & Jönsson, M. (2014). Combining fault-injection with Property-Based Testing (ed.). In: Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014: . Paper presented at ACM International Conference Proceeding Series (Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014 - Held in Conjunction with the Conference Design, Automation and Test in Europe, DATE 2014; Dresden; Germany; 28 March 2014 through (pp. 1-8).
Åpne denne publikasjonen i ny fane eller vindu >>Combining fault-injection with Property-Based Testing
2014 (engelsk)Inngår i: Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014, 2014, , s. 1-8s. 1-8Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this paper we present a methodology and a platform using Fault Injection (FI) and Property-Based Testing (PBT). PBT is a technique in which test cases are automatically generated from a specification of a system property. The generated test cases vary input stimuli as well as the sequence in which commands are executed. FI is used to accelerate the occurrences of faults in a system to exercise and evaluate fault handling mechanisms and e.g. calculate error detection coverage. By combining the two we have achieved a way of randomly injecting different faults at arbitrary moments in the execution sequence while checking whether certain properties still hold. We use the commercially available tool QuickCheck for generating the test cases and developed FaultCheck for FI. FaultCheck enables the user to utilize fault models, commonly used during FI, from PBT tools like QuickCheck. We demonstrate our method and tools on a simplified example of two Airbag systems that should meet safety requirements. We can easily find a safety violation in one of the examples, whereas by using the AUTOSAR E2E-library implementation, exhaustive testing cannot reveal any such safety violation. This demonstrates that our approach on testing can reveal certain safety violations in a cost-effective way.

Publisher
s. 1-8
HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-12452 (URN)10.1145/2559627.2559629 (DOI)2-s2.0-84904571627 (Scopus ID)23642 (Lokal ID)23642 (Arkivnummer)23642 (OAI)
Konferanse
ACM International Conference Proceeding Series (Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014 - Held in Conjunction with the Conference Design, Automation and Test in Europe, DATE 2014; Dresden; Germany; 28 March 2014 through
Tilgjengelig fra: 2016-09-13 Laget: 2016-09-13 Sist oppdatert: 2023-05-23bibliografisk kontrollert
Vedder, B., Warg, F., Skoglund, M. & Söderberg, A. (2014). Safety ADD: A tool for safety-contract based design (ed.). In: Proceedings - IEEE 25th International Symposium on Software Reliability Engineering Workshops, ISSREW: . Paper presented at IEEE 25th International Symposium on Software Reliability Engineering Workshops, ISSREW, Naples; Italy; 3 Nov. through 6 Nov. 2014 (pp. 527-529). , Article ID 6983898.
Åpne denne publikasjonen i ny fane eller vindu >>Safety ADD: A tool for safety-contract based design
2014 (engelsk)Inngår i: Proceedings - IEEE 25th International Symposium on Software Reliability Engineering Workshops, ISSREW, 2014, , s. 527-529s. 527-529, artikkel-id 6983898Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Safety ADD is a tool for working with safety contracts for software components. Safety contracts tie safety related properties, in the form of guarantees and assumptions, to a component. A guarantee is a property the component promises to hold, on the premise that the environment provides its associated assumptions. When multiple software components are integrated in asystem, Safety ADD is used to verify that the guarantees and assumptions match when there are safety-related dependencies between the components. The initial goal of Safety ADD is to investigate how safety contracts can be managed and used efficiently within the software design process. It is implemented as an Eclipse plug in. The tool has two main functions. It gives designers of software components a way to specify safety contracts, which are stored in an XML format and shall be distributed together with the component. It also gives developers who integrate multiple software components in their systems a tool to verify that the safety contracts are fulfilled. A graphical editor is used to connect guarantees and assumptions for dependent components, and an algorithm traverses all such connections to make sure they match.

Publisher
s. 527-529
HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-12453 (URN)10.1109/ISSREW.2014.18 (DOI)2-s2.0-84922603169 (Scopus ID)23643 (Lokal ID)23643 (Arkivnummer)23643 (OAI)
Konferanse
IEEE 25th International Symposium on Software Reliability Engineering Workshops, ISSREW, Naples; Italy; 3 Nov. through 6 Nov. 2014
Tilgjengelig fra: 2016-09-13 Laget: 2016-09-13 Sist oppdatert: 2023-05-25bibliografisk kontrollert
Söderberg, A. & Vedder, B. (2012). Composable safety-critical systems based on pre-certified software components (ed.). In: Proceedings - 23rd IEEE International Symposium on Software Reliability Engineering Workshops, ISSREW 2012: . Paper presented at 23rd IEEE International Symposium on Software Reliability Engineering Workshops, ISSREW 2012; Dallas, TX; United States; 27-30 Nov., 2012 (pp. 343-348).
Åpne denne publikasjonen i ny fane eller vindu >>Composable safety-critical systems based on pre-certified software components
2012 (engelsk)Inngår i: Proceedings - 23rd IEEE International Symposium on Software Reliability Engineering Workshops, ISSREW 2012, 2012, , s. 343-348s. 343-348Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

When designing safety critical and software intensive embedded systems, extensive development processes have to be followed in order to ensure that the software corresponds with the software safety requirement specification. This paper describes a study performed to investigate how to use a component based approach in order to reduce the requirements of the development processes for safety critical embedded systems. Focus is on certification of individual software components by the use of integrity contracts and how this enables software component composition and re-usability, particularly between different domains. The use of our approach in system design may reduce the effort required for an assessor in certifying an entire safety critical system.

Publisher
s. 343-348
Emneord
Contract, Reusability, Safety-critical, Software component
HSV kategori
Identifikatorer
urn:nbn:se:ri:diva-12512 (URN)10.1109/ISSREW.2012.83 (DOI)2-s2.0-84873387602 (Scopus ID)23923 (Lokal ID)23923 (Arkivnummer)23923 (OAI)
Konferanse
23rd IEEE International Symposium on Software Reliability Engineering Workshops, ISSREW 2012; Dallas, TX; United States; 27-30 Nov., 2012
Tilgjengelig fra: 2016-09-13 Laget: 2016-09-13 Sist oppdatert: 2021-01-08bibliografisk kontrollert
Organisasjoner
Identifikatorer
ORCID-id: ORCID iD iconorcid.org/0000-0003-1713-3726
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