Control Strategies for Advanced Driver Assistance Systems and Autonomous Driving Functions

235 Pages·2019·12.11 MB·English

by  Harald Waschl

Lecture Notes in Control and Information Sciences 476
Harald Waschl · Ilya Kolmanovsky 
Editors
Frank Willems
Control Strategies
for Advanced Driver
Assistance Systems
and Autonomous
Driving Functions
Development, Testing and Verification
Lecture Notes in Control and Information
Sciences
Volume 476
Series editors
Frank Allgöwer, Stuttgart, Germany
Manfred Morari, Zürich, Switzerland
Series Advisory Board
P. Fleming, University of Sheffield, UK
P. Kokotovic, University of California, Santa Barbara, CA, USA
A. B. Kurzhanski, Moscow State University, Russia
H. Kwakernaak, University of Twente, Enschede, The Netherlands
A. Rantzer, Lund Institute of Technology, Sweden
J. N. Tsitsiklis, MIT, Cambridge, MA, USA
Thisseriesaimstoreportnewdevelopmentsinthefieldsofcontrolandinformation
sciences—quickly, informally and at a high level. The type of material considered
for publication includes:
1. Preliminary drafts of monographs and advanced textbooks
2. Lectures on a new field, or presenting a new angle on a classical field
3. Research reports
4. Reports of meetings, provided they are
(a) of exceptional interest and
(b) devoted to a specific topic. The timeliness of subject material is very
important.
More information about this series at http://www.springer.com/series/642
Harald Waschl Ilya Kolmanovsky
(cid:129)
Frank Willems
Editors
Control Strategies
for Advanced Driver
Assistance Systems
and Autonomous Driving
Functions
fi
Development, Testing and Veri cation
123
Editors
Harald Waschl FrankWillems
Institute for Design andControl Department ofMechanical Engineering
ofMechatronical Systems Eindhoven University of Technology
JohannesKepler University Linz Eindhoven,The Netherlands
Linz, Austria
Ilya Kolmanovsky
Department ofAerospace Engineering
University of Michigan
AnnArbor, MI,USA
ISSN 0170-8643 ISSN 1610-7411 (electronic)
Lecture Notesin Control andInformation Sciences
ISBN978-3-319-91568-5 ISBN978-3-319-91569-2 (eBook)
https://doi.org/10.1007/978-3-319-91569-2
LibraryofCongressControlNumber:2018941237
©SpringerInternationalPublishingAG,partofSpringerNature2019
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar
methodologynowknownorhereafterdeveloped.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom
therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor
for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations.
Printedonacid-freepaper
ThisSpringerimprintispublishedbytheregisteredcompanySpringerInternationalPublishingAG
partofSpringerNature
Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland
Preface
Autonomousdrivingisexpectedtoplayanessentialroleinfuturetransportsystems
to dramatically improve on-road safety and traffic throughput. Also, benefits are
anticipatedinthefieldofreductionoffuelconsumption,ofpollutantemission,and
of greenhouse gas emissions. Therefore, this is seen as a crucial technology for
smart, green, and integrated mobility. In this context, advanced driver assistance
systems (ADASs) and automated driving functions (ADFs) can be seen as an
intermediatesteptowardfullyautonomousdrivingvehiclesonpublicroads.Forthe
developmentandverificationofADASandADFcontrolsystems,theintendeduse
caseiscrucialthatinvolvesreal-worlddrivingsituationswithmultipleparticipants.
The control algorithms need to operate in non-deterministic and time-varying
environment, which, due to sensor limitations, are not fully known and involve
interactingwithothertrafficparticipants,possiblyahumandriverandinfutureeven
traffic management systems. As of now, demonstrators and selected functions are
alreadyavailableinproductioncars;however,stillnoagreementonhowtodesign,
test, and verify controlstrategiesfor these driving functions isavailable. The large
number of combinations of possible situations render standard testing approaches,
likefleettesting,virtuallyimpossibleandrequiresnewmethodsandconceptstobe
developed.Thenewapproachesthatweneedwillforsurebeinterdisciplinary.This
book aims to contribute to defining such approaches by collecting articles from
expertswithdifferentbackgroundsandintereststoproduceanoverallpictureofthe
tools we have and will need to have to cope with this problem. It covers various
aspects, ranging from human interaction and theoretical approaches to real-world
examples for development and testing of control algorithms for ADAS and ADF.
Thestartingpointforthisbookwasaninternationalworkshoponthetopicheld
in September 2016 at the Johannes Kepler University Linz, Austria. The contents
are peer-reviewed versions of selected workshop contributions. The chapters are
from international experts and cover theoretical and formal methods, human
interactionandbehaviormodeling,methodsandframeworksfortestingandcontrol
function development, the impact of ADF on the powertrain development and
aspectsoftrafficcontrol.Thewiderangereflectsthehighlyinterdisciplinarynature
of thetopic and allows afirst notion onthe expected challenges. Forsure, it isnot
v
vi Preface
possible to provide all answers within one book; nonetheless, particular solutions
presented to subtasks and subproblems can provide important building blocks for
development, testing, and verification of control strategies for advanced driver
assistance systems or automated driving functions.
Neither the workshop nor this collection of contributions would have been
possible without the support of several people (in particular, Nadja Aichinger and
Verena Schimpf). Further, thanks are due to the reviewers of the single chapters
who have done important and essential work to ensure the quality of this volume.
Linz, Austria Harald Waschl
Ann Arbor, USA Ilya Kolmanovsky
Eindhoven, The Netherlands Frank Willems
Organizing Committee
Steering Organizations
Johannes Kepler University Linz, Austria
Linz Center of Mechatronics GmbH, Austria
Hosting Organization
Johannes Kepler University Linz, Austria
Program Committee
Luigi del Re Johannes Kepler University Linz, Austria
Ilya Kolmanovsky University of Michigan, USA
Harald Waschl Johannes Kepler University Linz, Austria
Frank Willems TNO Automotive, The Netherlands and Eindhoven
University of Technology, The Netherlands
Organizing Committee
Nadja Aichinger Johannes Kepler University Linz, Austria
Verena Schimpf Johannes Kepler University Linz, Austria
Thomas Schwarzgruber Johannes Kepler University Linz, Austria
Referees
T. Albin E. Atkins A. Girard
A. Katriniok N. Li B. Németh
J. Ploeg D. Reischl R. Schmied
X. Seykens M. Stolz E. Tseng
C. E. Tuncali E. van Nunen S. Wilkins
Y. Yildiz D. Zhao R. Zidek
vii
Contents
1 Cooperation and the Role of Autonomy in Automated
Driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Gina Wessel, Eugen Altendorf, Constanze Schreck,
Yigiterkut Canpolat and Frank Flemisch
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Basics of Automated Driving. . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Air Traffic Accidents and the First Fatal Automated
Driving Crash. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 Cooperation and the Role of Autonomy in Different Fields. . . . 7
1.4.1 The Holon—A System-Theoretical Approach. . . . . . . . 7
1.4.2 Machines as Agents . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4.3 Responsibility:CreditandBlameinHuman–Machine
Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.4.4 Conditions for (Human) Cooperation. . . . . . . . . . . . . . 11
1.4.5 Autonomy: From Human Teams to Human–Machine
Teams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4.6 Cooperation and Autonomy in Vehicle Guidance and
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.4.7 Summary of Different Approaches. . . . . . . . . . . . . . . . 15
1.5 Working Definition of Cooperation and the Role
of Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.6 Design Recommendations and Avenues for Future
Research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.7 ImplementationoftheDesignRecommendationsandWorking
Definitions in the H-Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.8 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
ix
x Contents
2 Robust Real-World Emissions by Integrated ADF and
Powertrain Control Development . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Frank Willems, Peter van Gompel, Xander Seykens
and Steven Wilkins
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.2 Drivers and Challenges in HD Powertrain Development . . . . . . 31
2.2.1 Real-World Pollutant Emissions . . . . . . . . . . . . . . . . . 31
2.2.2 Fuel Consumption and CO Emissions . . . . . . . . . . . . 32
2
2.2.3 Powertrain Complexity . . . . . . . . . . . . . . . . . . . . . . . . 32
2.3 ADF Potential for Robust Powertrain Performance . . . . . . . . . . 33
2.3.1 Integration of ADF in Powertrain Control Strategy. . . . 35
2.3.2 Optimal Control Problem . . . . . . . . . . . . . . . . . . . . . . 36
2.4 Powertrain Control Development and Testing. . . . . . . . . . . . . . 38
2.4.1 Virtual Development and Verification . . . . . . . . . . . . . 38
2.4.2 Laboratory Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.4.3 On-Road Vehicle Testing . . . . . . . . . . . . . . . . . . . . . . 41
2.4.4 Potential Synergy in ADF and Powertrain
Development . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.5 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3 Gaining Knowledge on Automated Driving’s Safety—The
Risk-Free VAAFO Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Philipp Junietz, Walther Wachenfeld, Valerij Schönemann,
Kai Domhardt, Wadim Tribelhorn and Hermann Winner
3.1 Motivation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.2 Virtual Assessment of Automation in Field Operation. . . . . . . . 48
3.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2.2 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.2.3 Use Cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.2.4 Correction of Environment Perception. . . . . . . . . . . . . 53
3.2.5 Simulation Environment . . . . . . . . . . . . . . . . . . . . . . . 56
3.3 Scenario Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.4 Application Ideas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.4.1 VAAFO Use with State-of-the-Art Vehicles. . . . . . . . . 60
3.4.2 Approval by “Seed Automation”. . . . . . . . . . . . . . . . . 61
3.4.3 Vehicle Equipment for Future Applications . . . . . . . . . 62
3.4.4 VAAFO on a Dedicated Fleet—A New Business
Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.5 Conclusion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64