Novel active safety functions are introduced in road vehicles and nowadays cars, trucks and buses start to be equipped with functions to avoid collisions. The performance of these active safety functions must be possible to test and assess. There are several initiatives addressing how to test active safety. These functions are under rapid development and there is presently, and in contrast to passive safety, no generally accepted assessment programme in place. Several initiatives have identified this need for standardized testing and assessment methods over the past years. This paper gives an overview and comparison of initiatives worldwide which lately have been or are currently dealing with the topic of active safety performance testing. Among others, performance in vehicle-to-vehicle or vehicle-to-pedestrian accident scenarios is being addressed by international initiatives: the eVALUE, ASSESS and AsPeCSS projects, the vFSS working group, the CAMP-CIB initiative and the AEB group. These initiatives propose test procedures for Forward Collision Warning, Autonomous Emergency Braking and Pedestrian Detection and Protection systems. As a result, the paper will describe the initiatives addressing AEB systems and their interaction and the status of the test procedures and test targets under development. This paper is given under the umbrella of the ActiveTest initiative. It is a neutral initiative with the objective of disseminating current research dedicated to the evaluation of performance of active safety systems.

This paper presents measurements on Vehicle to Vehicle (V2V) communication between participants in a platooning application. Platooning, according to the SARTRE concept, implies several vehicles travelling together in tight formation, with a manually driven heavy lead vehicle. The platoon being studied consists of five vehicles; two trucks in the lead and three passenger cars. The V2V-communication node in each vehicle contains an 802.11p radio at 5,9 GHz. It is used to send messages between vehicles to coordinate movements and maintain safety in the platoon. Another cooperative application that relies on V2V-communication is multiple UAVs flying in formation; as investigated in KARYON. This project also investigates cooperative autonomous vehicles. In both applications, V2V-communication is an enabling technology. Two metrics are studied to quantify the V2V-communication quality: system packet error rate and consecutive packet loss. These two metrics characterize the communication quality in the different tests (speed, antenna position and two tracks). The paper draws general conclusions on the performance of V2V-communication. The presented test results supports comparison of the tested antenna placements on the trucks and the communication quality related to speed and track. 

This paper presents results from measurements on Vehicle to Vehicle (V2V) communication between participants in a cooperative application: vehicle platooning. The platoon being studied consists of four vehicles; one truck in the lead and three passenger cars following. The V2V-communication node in each vehicle contains an 802.11p radio tuned to 5.9 GHz. It is used to send messages between vehicles to coordinate movements and maintain safety in the platoon. In cooperative applications, V2V-communication is an enabling technology. The V2V-communication quality is studied according to packet error rate. This is measured in tests with different speeds, antenna position and on two tracks. The paper draws general conclusions on the performance of V2Vcommunication and presents a comparison of the tested antenna placements on the truck.

With the introduction of the automotive functional safety standard ISO 26262, several challenges related to the representation of dependability information has emerged. This paper addresses how safety requirements can be formalized; which is mandatory for high-integrity requirements. Particular focus is given to asymmetric failures. Such a failure can be caused by a communication fault, and implies that data in a distributed system will be inconsistent among system outputs or within the system (incorrect, corrupt or omitted, etc.). We investigate along two lines; 1) The EAST-ADL automotive architecture description language is extended with a capability to represent asymmetric faults and failures. 2) The Compute-Distribute Results (CDR) pattern is introduced to assist reasoning about distributed systems, in particular potential inconsistencies. We show how this can support architectural decisions regarding selection of communication topology and communication technology for a given distributed system. A brake-by-wire application and FlexRay bus are analysed to illustrate the concepts.

This report presents a system model for a class of distributed real-time systems. The goal is to assist the design of fault tolerance protocols such as membership agreement. The system model contains a description of the node, network, processing in respective sub-models. It also contains a failure model that describes the failures that can plausibly occur in the system. These failures can then be addressed by the fault tolerance protocol. The report contributes with a taxonomy by which failures can be described. The resulting failure model is affected by the model of the system and by the model of how processing is done in the system. The class of system is assumed to be strongly partitioned which provides a high degree of error containment for real-time processes executed in the same node and also for processes executed on different nodes. The smallest unit of failure is therefore the process. The system model uses a broadcast communication network similar to Flexray, i.e. it supports both time-triggered and event-triggered communication. The class of system is chosen based on the requirements of safety-critical applications such as x-by-wire. The processing model for the system is presented in which operation is divided into sequentially executed primitive operations, called CDR-operations (Compute and Distribute Result operations). A CDR-operation involves a producer process which computes a result and distributes the result via broadcast communication to consumer processes. Failures of CDR-operations are characterised by four aspects: type, symmetry, detectability and persistence; depending on which system component that is faulty. We compare our definitions of failure types with communication errors according to IEC 61784-3.

This paper presents a low rank compression technique which is used together with reluctance method and Schur complement to accelerate the performance of a PEEC-based solver. The system of linear equations which is achieved from the PEEC method is normally dense, therefore the coefficient matrix (MNA matrix) is sparsified using reluctance technique, and then Schur complement is applied on the MNA matrix which consists of separable blocks in order to form a new equation called Schur equation which is smaller in size than the original equation and hence it will be easier to be solved. Moreover, low rank compression is applied to compress the Schur matrix which will improve mostly the memory usage as well as solution time. Numerical results are demonstrated and discussed which are based on simulation of bus bars used in power frequency converters. The results show significant improvement in the performance while the overall error of the solution is kept to be around 10% when the reluctance matrix is sparsified up to 98%. However, due to the limitations of the proposed method, frequencies close to dc are not covered in this work.

Performance testing provides an unbiased way of presenting the benefits of active safety systems. However, some issues must be solved before performance testing can be executed for a system targeting a specific traffic scenario. First of all, the selected scenarios must be motivated; second, a suitable driver model shall be selected; and finally, a generic test target shall be defined. All these issues will be addressed in this paper.

This report investigates the feasibility of using smartphones as wireless reflector tags. A smartphone communicates its GNSS positioning data via peer-to-peer connections to nearby road users to notify its presence. Appropriate use cases are studied based on accident data. Different communication protocols and a pseudo differencing positioning technique are evaluated. Possibilities and obstacles are presented.

Study concerning electrical connections during long periods of operation at Swedish nuclear power plants