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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.
Open this publication in new window or tab >>A Low-Cost Model Vehicle Testbed with Accurate Positioning for Autonomous Driving
2018 (English)In: Journal of Robotics, ISSN 1687-9600, E-ISSN 1687-9619, article id 4907536Article in journal (Refereed) 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.

Keywords
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
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-36676 (URN)10.1155/2018/4907536 (DOI)2-s2.0-85058336224 (Scopus ID)
Note

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

Available from: 2018-12-21 Created: 2018-12-21 Last updated: 2019-06-18Bibliographically approved
Sangchoolie, B., Folkesson, P. & Vinter, J. (2018). A Study of the Interplay Between Safety and Security Using Model-Implemented Fault Injection. In: : . Paper presented at 14th European Dependable Computing Conference, EDCC 2018; Iasi; Romania; 10 September 2018 through 14 September 2018 (pp. 41-48).
Open this publication in new window or tab >>A Study of the Interplay Between Safety and Security Using Model-Implemented Fault Injection
2018 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The combination of high mobility and wireless communication in many safety-critical systems have increased their exposure to malicious security threats. Consequently, many works in the past have proposed solutions to ensure safety and security of these systems. However, not much attention has been given to the interplay between these two groups of nonfunctional requirements. This is a concern as safety solutions may negatively impact system security and vice versa. This paper addresses the interplay between safety and security by proposing an attack injection framework, based on model-implemented fault injection, suitable for model-based design. The framework enables us to study and evaluate the impact of cybersecurity attacks on system safety early in the development process. To this end, we have implemented six attack injection models and conducted experiments on Simulink models of a CAN bus and a brake-by-wire controller. The results show that the security attacks modeled could successfully impact the system safety by violating our defined safety requirements.

Keywords
fault injection, attack injection, security, safety, cybersecurity attack, model-based design
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:ri:diva-36477 (URN)10.1109/EDCC.2018.00018 (DOI)2-s2.0-85053862860 (Scopus ID)9781538680605 (ISBN)
Conference
14th European Dependable Computing Conference, EDCC 2018; Iasi; Romania; 10 September 2018 through 14 September 2018
Funder
Vinnova
Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2019-06-27Bibliographically approved
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).
Open this publication in new window or tab >>Accurate positioning of bicycles for improved safety
2018 (English)Conference paper, Published paper (Refereed)
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.

Keywords
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
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-34333 (URN)10.1109/ICCE.2018.8326237 (DOI)2-s2.0-85048765893 (Scopus ID)
Conference
2018 IEEE International Conference on Consumer Electronics (ICCE)
Available from: 2018-08-07 Created: 2018-08-07 Last updated: 2019-06-18Bibliographically approved
Folkesson, P., Ayatolahi, F., Sangchoolie, B., Vinter, J., Islam, M. & Karlsson, J. (2015). Back-to-Back Fault Injection Testing in Model-Based Development. In: Floor Koornneef, Coen van Gulijk (Ed.), Computer Safety, Reliability, and Security: . Paper presented at 34th International Conference on Computer Safety, Reliability, and Security (SAFECOMP 2015), September 23-25, 2015, Delft, Netherlands (pp. 135-148). , 9337
Open this publication in new window or tab >>Back-to-Back Fault Injection Testing in Model-Based Development
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2015 (English)In: Computer Safety, Reliability, and Security / [ed] Floor Koornneef, Coen van Gulijk, 2015, Vol. 9337, p. 135-148Conference paper, Published paper (Refereed)
Abstract [en]

Today, embedded systems across industrial domains (e.g., avionics,automotive) are representatives of software-intensive systems with increasingreliance on software and growing complexity. It has become critically importantto verify software in a time, resource and cost effective manner. Furthermore,industrial domains are striving to comply with the requirements of relevantsafety standards. This paper proposes a novel workflow along with tool supportto evaluate robustness of software in model-based development environment,assuming different abstraction levels of representing software. We then showthe effectiveness of our technique, on a brake-by-wire application, byperforming back-to-back fault injection testing between two differentabstraction levels using MODIFI for the Simulink model and GOOFI-2 for thegenerated code running on the target microcontroller. Our proposed method andtool support facilitates not only verifying software during early phases of thedevelopment lifecycle but also fulfilling back-to-back testing requirements of ISO 26262 [1] when using model-based development.

Series
Lecture Notes in Computer Science (LNCS), ISSN 0302-9743 ; 9337
Keywords
fault-injection, back-to-back testing, model-based development, embedded systems, functional safety, soft errors
National Category
Computer Systems
Identifiers
urn:nbn:se:ri:diva-36480 (URN)10.1007/978-3-319-24255-2_11 (DOI)978-3-319-24254-5 (ISBN)978-3-319-24255-2 (ISBN)
Conference
34th International Conference on Computer Safety, Reliability, and Security (SAFECOMP 2015), September 23-25, 2015, Delft, Netherlands
Funder
EU, FP7, Seventh Framework Programme, 295311
Available from: 2018-11-22 Created: 2018-11-22 Last updated: 2019-07-10Bibliographically approved
Vedder, B., Eriksson, H., Skarin, D., Vinter, J. & Jonsson, M. (2015). Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization (ed.). Paper presented at Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA.
Open this publication in new window or tab >>Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization
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2015 (English)In: Article in journal, Meeting abstract (Other academic) Published
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-6882 (URN)29527 (Local ID)29527 (Archive number)29527 (OAI)
Conference
Proceedings of The 2015 International Conference on Unmanned Aircraft Systems. Denver, USA
Available from: 2016-09-08 Created: 2016-09-08 Last updated: 2019-06-18Bibliographically approved
Vedder, B. & Vinter, J. (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.
Open this publication in new window or tab >>Combining fault-injection with Property-Based Testing
2014 (English)In: Workshop on Engineering Simulations for Cyber Physical Systems, ES4CPS 2014, 2014, , p. 1-8Conference paper, Published paper (Refereed)
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
p. 1-8
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-12452 (URN)10.1145/2559627.2559629 (DOI)2-s2.0-84904571627 (Scopus ID)23642 (Local ID)23642 (Archive number)23642 (OAI)
Conference
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
Available from: 2016-09-13 Created: 2016-09-13 Last updated: 2019-08-09Bibliographically approved
Skarin, D., Vinter, J. & Svenningsson, R. (2014). Visualization of Model-Implemented Fault Injection Experiments (ed.). Lecture Notes in Computer Science, 8696, 219-230
Open this publication in new window or tab >>Visualization of Model-Implemented Fault Injection Experiments
2014 (English)In: Lecture Notes in Computer Science, Vol. 8696, p. 219-230Article in journal (Other academic) Published
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-6657 (URN)19190 (Local ID)19190 (Archive number)19190 (OAI)
Available from: 2016-09-08 Created: 2016-09-08 Last updated: 2018-07-05Bibliographically approved
Nilsson, J., Strand, N., Falcone, P. & Vinter, J. (2013). Driver performance in the presence of adaptive cruise control related failures: Implications for safety analysis and fault tolerance (ed.). In: Proc. 2013 IEEE/IFIP 43nd International Conference on Dependable Systems and Networks Workshops.: . Paper presented at International Conference on Dependable Systems and Networks (43rd Annual IEEE/IFIP Conference on Dependable Systems and Networks Workshop, DSN-W 2013; Budapest; Hungary; 24-27 Jun., 2013). IEEE/IFIP
Open this publication in new window or tab >>Driver performance in the presence of adaptive cruise control related failures: Implications for safety analysis and fault tolerance
2013 (English)In: Proc. 2013 IEEE/IFIP 43nd International Conference on Dependable Systems and Networks Workshops., IEEE/IFIP , 2013, , p. 6615531Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
IEEE/IFIP, 2013. p. 6615531
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-12260 (URN)15154 (Local ID)15154 (Archive number)15154 (OAI)
Conference
International Conference on Dependable Systems and Networks (43rd Annual IEEE/IFIP Conference on Dependable Systems and Networks Workshop, DSN-W 2013; Budapest; Hungary; 24-27 Jun., 2013)
Available from: 2016-09-13 Created: 2016-09-13 Last updated: 2018-07-05Bibliographically approved
Nilsson, J., Bergenhem, C., Jacobson, J., Johansson, R. & Vinter, J. (2013). Functional Safety for Cooperative Systems (ed.). In: Proc. SAE 2013 World Congress & Exhibition.: . Paper presented at SAE Detroit, Michigan, USA. 2013-04-16--2013-04-18 Proc. SAE 2013 World Congress & Exhibition. SAE
Open this publication in new window or tab >>Functional Safety for Cooperative Systems
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2013 (English)In: Proc. SAE 2013 World Congress & Exhibition., SAE , 2013, , p. Paper 2013-01-0197Conference paper, Published paper (Other academic)
Place, publisher, year, edition, pages
SAE, 2013. p. Paper 2013-01-0197
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-12262 (URN)15156 (Local ID)15156 (Archive number)15156 (OAI)
Conference
SAE Detroit, Michigan, USA. 2013-04-16--2013-04-18 Proc. SAE 2013 World Congress & Exhibition
Available from: 2016-09-13 Created: 2016-09-13 Last updated: 2018-07-05Bibliographically approved
Islam, M., Sangchoolie, B., Ayatolahi, F., Skarin, D., Vinter, J., Törner, F., . . . Karlsson, J. (2013). Towards Benchmarking of Functional Safety in the Automotive Industry (ed.). In: 14th European Workshop on Dependable Computing, EWDC 2013: . Paper presented at Dependable Computing (14th European Workshop on Dependable Computing, EWDC 2013; Coimbra; Portugal; 15-16 May, 2013).
Open this publication in new window or tab >>Towards Benchmarking of Functional Safety in the Automotive Industry
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2013 (English)In: 14th European Workshop on Dependable Computing, EWDC 2013, 2013, , p. 111-125Conference paper, Published paper (Refereed)
Publisher
p. 111-125
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 7869
National Category
Natural Sciences
Identifiers
urn:nbn:se:ri:diva-12263 (URN)15163 (Local ID)15163 (Archive number)15163 (OAI)
Conference
Dependable Computing (14th European Workshop on Dependable Computing, EWDC 2013; Coimbra; Portugal; 15-16 May, 2013)
Available from: 2016-09-13 Created: 2016-09-13 Last updated: 2018-08-13Bibliographically approved
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6191-6253

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