“Vehicular Coordination via a Safety Kernel in the Gulliver Test-bed (Invited Paper)”
in Proceedings of the 13th International Workshop on Assurance in Distributed Systems and Networks (ADSN), co-located with ICDCS, Madrid, Spain, Jun. 2014.
Abstract: Cooperative vehicular systems base their coordination on inherently uncertain inter-vehicle communications. If not conveniently managed, this uncertainty can ether lead to inefficient coordination solutions or to optimistic but unsafe ones. We consider that cooperative functions can be executed with several service levels and we use the system architectural concept of safety kernel for managing the service level in order to achieve the best possible performance while keeping the system safe. We use the Gulliver test-bed for demonstrating the safety kernel concept by means of a pilot system implementation on scaled vehicles with sensors and communication capabilities. The demonstrated architecture incorporates: (1) a local dynamic map (LDM) that uses local and remote sensory information for calculating the location of nearby objects, (2) a safety kernel to manage service levels, (3) a cooperative level of service evaluator that allows vehicles to reach agreement on a common service level and, finally, (4) a driver manager that executes in accordance to the cooperative level of service when determining how to calculate the trajectory. This paper explains how the different components considered in the architectural concept operate, and shows how it is possible to use (similar to existing) trajectory planning algorithms when implementing the concept.
Research line(s): Timeliness and Adaptation in Dependable Systems (TADS)