The Thirteenth International Workshop on Assurance in Distributed Systems and Networks (ADSN 2014), Proceedings of the 34th International Conference on Distributed Computing Systems Workshops, Madrid, Spain, June 2014
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.
@inproceedings{Casimiro:14b, author = {Casimiro, A., and Morales-Ponce, O. and Petig, T. and Schiller, E. M.}, title = {Vehicular Coordination via a Safety Kernel in the Gulliver Test-bed}, booktitle = {Distributed Computing Systems Workshops (ICDCSW), 2014 IEEE 34th International Conference on}, year = {2014}, month = {June}, pages = {167-176}, doi = {10.1109/ICDCSW.2014.25}, abstractURL = {http://www.di.fc.ul.pt/~casim/papers/adsn14/adsn14.html}, documentURL = {http://www.di.fc.ul.pt/~casim/papers/adsn14/adsn14.pdf}, }