scholarly journals Train here, drive there: ROS based end-to-end autonomous-driving pipeline validation in CARLA simulator using the NHTSA typology

2021 ◽  
Author(s):  
Carlos Gómez-Huélamo ◽  
Javier Del Egido ◽  
Luis M. Bergasa ◽  
Rafael Barea ◽  
Elena López-Guillén ◽  
...  
Keyword(s):  
Traffic Safety ◽  
Ad Hoc ◽  
Autonomous Driving ◽  
Use Cases ◽  
Highway Traffic ◽  
Cruise Control ◽  
National Highway Traffic Safety ◽  
Urban Complex ◽  
Pedestrian Crossing ◽  
The Cost

AbstractUrban complex scenarios are the most challenging situations in the field of Autonomous Driving (AD). In that sense, an AD pipeline should be tested in countless environments and scenarios, escalating the cost and development time exponentially with a physical approach. In this paper we present a validation of our fully-autonomous driving architecture using the NHTSA (National Highway Traffic Safety Administration) protocol in the CARLA simulator, focusing on the analysis of our decision-making module, based on Hierarchical Interpreted Binary Petri Nets (HIBPN). First, the paper states the importance of using hyper-realistic simulators, as a preliminary help to real test, as well as an appropriate design of the traffic scenarios as the two current keys to build safe and robust AD technology. Second, our pipeline is introduced, which exploits the concepts of standard communication in robotics using the Robot Operating System (ROS) and the Docker approach to provide the system with isolation, flexibility and portability, describing the main modules and approaches to perform the navigation. Third, the CARLA simulator is described, outlining the steps carried out to merge our architecture with the simulator and the advantages to create ad-hoc driving scenarios for use cases validation instead of just modular evaluation. Finally, the architecture is validated using some challenging driving scenarios such as Pedestrian Crossing, Stop, Adaptive Cruise Control (ACC) and Unexpected Pedestrian. Some qualitative (video files: Simulation Use Cases) and quantitative (linear velocity and trajectory splitted in the corresponding HIBPN states) results are presented for each use case, as well as an analysis of the temporal graphs associated to the Vulnerable Road Users (VRU) cases, validating our architecture in simulation as a preliminary stage before implementing it in our real autonomous electric car.

Use Cases for Assessing, Testing, and Validating the Human Machine Interface of Automated Driving Systems

2018 ◽  
Vol 62 (1) ◽  
pp. 1873-1877 ◽  
Author(s):  
Frederik Naujoks ◽  
Sebastian Hergeth ◽  
Katharina Wiedemann ◽  
Nadja Schömig ◽  
Andreas Keinath
Keyword(s):  
Traffic Safety ◽  
Test Methods ◽  
Use Cases ◽  
Highway Traffic ◽  
Automated Vehicles ◽  
Automated Driving ◽  
National Highway Traffic Safety ◽  
Minimum Requirements ◽  
Machine Interface ◽  
Increasing Demand

Reflecting the increasing demand for harmonization of human machine interfaces (HMI) of automated vehicles, different taxonomies of use cases for investigating automated driving systems (ADS) have been proposed. Existing taxonomies tend to serve specific purposes such as categorizing transitions between automation modes; however, they cannot be generalized to different systems or combinations of systems. In particular, there is no exhaustive set of use cases that allows entities to assess and validate the HMI of a given ADS that takes into account all possible system modes and transitions. The present paper describes a newly developed framework based on combinatorics of SAE (Society of Automotive Engineers) automation levels that incorporates a comprehensive taxonomy of use cases required for the assessment and validation of ADS HMIs. This forms a much-needed basis for test methods required to verify whether an HMI meets minimum requirements such as those outlined in the National Highway Traffic Safety Administration’s Federal Automated Vehicles policy.

scholarly journals Retooling Cafe

2004 ◽  
Vol 126 (04) ◽  
pp. 24-27
Author(s):  
John DeGaspari
Keyword(s):  
Traffic Safety ◽  
Fuel Efficiency ◽  
Highway Traffic ◽  
National Academy Of Sciences ◽  
Bottom Line ◽  
National Highway Traffic Safety ◽  
Public Comment ◽  
Light Trucks ◽  
The Cost ◽  
Academy Of Sciences

National Highway Traffic Safety Administration (NHTSA) is focusing attention on fuel economy rules for light trucks. Some suggestions for reforms to certain CAFE standards have been published by the National Academy of Sciences in January 2002 in a report that examined the effectiveness of CAFE. The report suggests revising the structure of the light truck standards to reduce incentives to lower vehicle weight, because of the argument that weight increases safety. NHTSA is currently soliciting public comment for its possible CAFE reforms. The agency has not come up with definite targets for reform. It has stated some possibilities, including those in the National Academy of Sciences report, but is open to suggestions at this point. The National Academy of Sciences report analyzed the cost-effectiveness of the application of existing technology on various classes of cars and light trucks. The bottom line of the analysis is that proven technology can cost-effectively improve fuel efficiency, with light trucks showing the biggest opportunity for improvement.

A Commented Synopsis of the Report of the Committee for the National Tire Efficiency Study4

2007 ◽  
Vol 35 (2) ◽  
pp. 70-93
Author(s):  
Marion G. Pottinger ◽  
Joseph D. Walter ◽  
John D. Eagleburger
Keyword(s):  
Traffic Safety ◽  
Rolling Resistance ◽  
The United States ◽  
Final Report ◽  
Highway Traffic ◽  
National Academy Of Sciences ◽  
Scrap Tire ◽  
National Highway Traffic Safety ◽  
Fuel Savings ◽  
Time Required

Abstract The Congress of the United States petitioned the Transportation Research Board of the National Academy of Sciences to study replacement passenger car tire rolling resistance in 2005 with funding from the National Highway Traffic Safety Administration. The study was initiated to assess the potential for reduction in replacement tire rolling resistance to yield fuel savings. The time required to realize these savings is less than the time required for automotive and light truck fleet replacement. Congress recognized that other factors besides fuel savings had to be considered if the committee’s advice was to be a reasonable guide for public policy. Therefore, the study simultaneously considered the effect of potential rolling resistance reductions in replacement tires on fuel consumption, wear life, scrap tire generation, traffic safety, and consumer spending for tires and fuel. This paper summarizes the committee’s report issued in 2006. The authors, who were members of the multidisciplinary committee, also provide comments regarding technical difficulties encountered in the committee’s work and ideas for alleviating these difficulties in further studies of this kind. The authors’ comments are clearly differentiated so that these comments will not be confused with findings, conclusions, and recommendations developed by the committee and contained in its final report.

Distribution of Speed and Acceleration on a Tread Wear Course

1981 ◽  
Vol 9 (1) ◽  
pp. 19-25 ◽  
Author(s):  
G. S. Ludwig ◽  
F. C. Brenner
Keyword(s):  
Traffic Safety ◽  
Highway Traffic ◽  
National Highway Traffic Safety ◽  
Level Crossings ◽  
Acceleration Level ◽  
Longitudinal Acceleration ◽  
Acceleration Data ◽  
National Highway

Abstract Belted bias and radial Course Monitoring Tires were run over the National Highway Traffic Safety Administration tread wear course at San Angelo on a vehicle instrumented to measure lateral and longitudinal accelerations, speed, and number of wheel rotations. The data were recorded as histograms. The distribution of speed, the distributions of lateral and longitudinal acceleration, and the number of acceleration level crossings are given. Acceleration data for segments of the course are also given.

The Analysis and Assessment of Test Method for Flammability of an Automotive Headlining Fabric

2011 ◽  
Vol 332-334 ◽  
pp. 1162-1166
Author(s):  
Zhuo Zhang ◽  
Ying Qing Liu ◽  
Zhong Hai Ren ◽  
Jia Zhuang Ma ◽  
Hu Shui Ye
Keyword(s):  
Traffic Safety ◽  
Test Method ◽  
Highway Traffic ◽  
National Highway Traffic Safety ◽  
Test Standards ◽  
Foreign Countries ◽  
Mandatory Standard ◽  
Testing Standards ◽  
Interior Textile ◽  
Automotive Interior

The flammability is one of the most important features about safety for automotive interior material. This paper summarized the testing standards for flammability performed testing on a type of interior textile material made by one of domestic manufacturers, in accordance with the Chart 571.302 Standard No. 302 of the National Highway Traffic Safety Administration of U.S. The complete introduction of national mandatory standard of China in flammability of interior material was introduced and domestic test standards of flammability with those of foreign countries all over world were compared. Finally, this paper proposed possible and would-be necessary parameters based on comprehensiveness of this kind of test due to safer requirement in future.

scholarly journals 40. MVCs: Five Most Frequent Sources of Injury

1996 ◽  
Vol 11 (S2) ◽  
pp. S41-S41
Author(s):  
John E. Gough ◽  
Richard C. Hunt
Keyword(s):  
Traffic Safety ◽  
Motor Vehicles ◽  
Highway Traffic ◽  
Sampling System ◽  
National Highway Traffic Safety ◽  
National Highway

Purpose: To determine the most frequent sources of injuries from the interior of motor vehicles involved in crashes.Methods: We searched the National Highway Traffic Safety Administration's National Accident Sampling System to determine the most frequent sources of injuries. This database includes sources of injuries resulting from crashes from January 1, 1991 to December 31, 1992.

scholarly journals Forensic Engineering Applications of the G-DaTA?V™ System of Equations to Real-World Collisions

2015 ◽  
Vol 32 (2) ◽  
Author(s):  
Jerry S. Ogden
Keyword(s):  
Traffic Safety ◽  
Real World ◽  
System Of Equations ◽  
Collision Dynamics ◽  
Highway Traffic ◽  
Sampling System ◽  
Velocity Change ◽  
National Highway Traffic Safety ◽  
Light Trucks ◽  
Total Velocity

Analysis of vehicle deformation from impacts largely relies upon A and B stiffness coefficients for vehicle structures in order to approximate the velocity change and accelerations produced by an impact. While frontal impact stiffness factors for passenger vehicles, light trucks, vans, and sport utility vehicles are relatively prevalent for modern vehicles, stiffness factors for rear and side structures, as well as heavy vehicles, buses, recreational vehicles, trailers, motorcycles, and even objects, are essentially non-existent. This paper presents the application of the Generalized Deformation and Total Velocity Change Analysis to real-world collision events (G-DaTA?V™ System of Equations) as developed by this author. The focus of this paper addresses the relative precision and accuracy of the G-DaTA?V™ System of Equations for determining the total velocity change for oblique and/or offset vehicle-to-vehicle collisions involving light trucks and sport utility vehicles, which are largely under-represented with modern vehicle A and B stiffness values for side and rear surfaces. The previous paper presented by this author to the Academy addressed the relative accuracy and precision of the G-DaTA?V™ System of Equations as they relate to a first validation using the RICSAC-staged collision database. As a secondary and more comprehensive validation process, the G-DaTA?V™ System of Equations will be applied to real-world collision data obtained through the National Automotive Sampling System (NASS), which provides the National Highway Traffic Safety Administration (NHTSA) with a comprehensive compilation of real-world collision events representing a broad-based collection of collision configurations from across the country. This data represents a reusable source of information that was collected using standardized field techniques implemented by NASS-trained field technicians. Through using a “core set of crash data components,” NASS has demonstrated its utility and applicability to a vast array of statistical and analytical studies regarding traffic safety and vehicle collision dynamics.

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