121 citations · 419 across the 24 of their papers we have counts for
27 papers
On Assumptions with Respect to Occlusions in Urban Environments for Automated Vehicle Speed Decisions
Robert Graubohm, Nayel Fabian Salem, Marcus Nolte +1
Automated driving systems are subject to various kinds of uncertainty during design, development, and operation. These kinds of uncertainty lead to an inherent risk of the technolo…
Robust LSTM-based Vehicle Velocity Observer for Regular and Near-limits Applications
Agapius Bou Ghosn, Marcus Nolte, Philip Polack +2
Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in nor…
Risk Management Core -- Towards an Explicit Representation of Risk in Automated Driving
Nayel Fabian Salem, Thomas Kirschbaum, Marcus Nolte +4
While current automotive safety standards provide implicit guidance on how unreasonable risk can be avoided, manufacturers are required to specify risk acceptance criteria for Auto…
ODD-Centric Contextual Sensitivity Analysis Applied To A Non-Linear Vehicle Dynamics Model
Richard Schubert, Marcus Nolte, Arnaud de La Fortelle +1
Advanced driving functions, for assistance or full automation, require strong guarantees to be deployed. This means that such functions may not be available all the time, like now…
Designing an Automated Vehicle: Strategies for Handling Tasks of a Previously Required Accompanying Person
Tobias Schräder, Robert Graubohm, Nayel Fabian Salem +1
When using a conventional passenger car, several groups of people are reliant on the assistance of an accompanying person, for example when getting in and out of the car. For the i…
Compensating for the Absence of a Required Accompanying Person: A Draft of a Functional System Architecture for an Automated Vehicle
Tobias Schräder, Torben Stolte, Inga Jatzkowski +3
A major challenge in the development of a fully automated vehicle is to enable a large variety of users to use the vehicle independently and safely. Particular demands arise from u…
Toward Generating Sufficiently Valid Test Case Results: A Method for Systematically Assigning Test Cases to Test Bench Configurations in a Scenario-Based Test Approach for Automated Vehicles
Markus Steimle, Nico Weber, Markus Maurer
To successfully launch automated vehicles into the consumer market, there must be credible proof that the vehicles will operate safely. However, finding a method to validate the ve…
A Taxonomy to Unify Fault Tolerance Regimes for Automotive Systems: Defining Fail-Operational, Fail-Degraded, and Fail-Safe
Torben Stolte, Stefan Ackermann, Robert Graubohm +4
This paper presents a taxonomy that allows defining the fault tolerance regimes fail-operational, fail-degraded, and fail-safe in the context of automotive systems. Fault tolerance…
Toward a Consistent Taxonomy for Scenario-Based Development and Test Approaches for Automated Vehicles: A Proposal for a Structuring Framework, a Basic Vocabulary, and its Application
Markus Steimle, Till Menzel, Markus Maurer
Ensuring and validating the safe operation of automated vehicles are key challenges for their market launch. Scenario-based development and test approaches are currently being purs…
A Knowledge-based Approach for the Automatic Construction of Skill Graphs for Online Monitoring
Inga Jatzkowski, Till Menzel, Ansgar Bock +1
Automated vehicles need to be aware of the capabilities they currently possess. Skill graphs are directed acylic graphs in which a vehicle's capabilities and the dependencies betwe…
Supporting Safe Decision Making Through Holistic System-Level Representations & Monitoring -- A Summary and Taxonomy of Self-Representation Concepts for Automated Vehicles
Marcus Nolte, Inga Jatzkowski, Susanne Ernst +1
The market introduction of automated vehicles has motivated intense research efforts into the safety of automated vehicle systems. Unlike driver assistance systems, SAE Level 3+ sy…
Sensitivity Analysis for Vehicle Dynamics Models -- An Approach to Model Quality Assessment for Automated Vehicles
Marcus Nolte, Richard Schubert, Cordula Reisch +1
Model-based approaches have become increasingly popular in the domain of automated driving. This includes runtime algorithms, such as Model Predictive Control, as well as formal an…
A LiDAR-based real-time capable 3D Perception System for Automated Driving in Urban Domains
Jens Rieken, Markus Maurer
We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable p…
Towards Efficient Hazard Identification in the Concept Phase of Driverless Vehicle Development
Robert Graubohm, Torben Stolte, Gerrit Bagschik +1
The complex functional structure of driverless vehicles induces a multitude of potential malfunctions. Established approaches for a systematic hazard identification generate indivi…
A Method for Classifying Test Bench Configurations in a Scenario-Based Test Approach for Automated Vehicles
Markus Steimle, Till Menzel, Markus Maurer
The introduction of automated vehicles demands a way to prove their safe operation. However, validating the safety of automated vehicles is still an unsolved problem. While the sce…
From Functional to Logical Scenarios: Detailing a Keyword-Based Scenario Description for Execution in a Simulation Environment
Till Menzel, Gerrit Bagschik, Leon Isensee +2
Scenario-based development and test processes are a promising approach for verifying and validating automated driving functions. For this purpose, scenarios have to be generated du…
Investigating Functional Redundancies in the Context of Vehicle Automation - A Trajectory Tracking Perspective
Torben Stolte, Tianyu Liao, Matthias Nee +2
Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all av…
Identification of Potential Hazardous Events for an Unmanned Protective Vehicle
Gerrit Bagschik, Andreas Reschka, Torben Stolte +1
The project Automated Unmanned Protective Vehicle for Highway Hard Shoulder Road Works (aFAS) aims to develop an unmanned protective vehicle to reduce the risk of injuries due to c…
A System's Perspective Towards an Architecture Framework for Safe Automated Vehicles
Gerrit Bagschik, Marcus Nolte, Susanne Ernst +1
With an increasing degree of automation, automated vehicle systems become more complex in terms of functional components as well as interconnected hardware and software components.…
Assessment of Deep Convolutional Neural Networks for Road Surface Classification
Marcus Nolte, Nikita Kister, Markus Maurer
When parameterizing vehicle control algorithms for stability or trajectory control, the road-tire friction coefficient is an essential model parameter when it comes to control perf…
Representing the Unknown - Impact of Uncertainty on the Interaction between Decision Making and Trajectory Generation
Marcus Nolte, Susanne Ernst, Jan Richelmann +1
Even though motion planning for automated vehicles has been extensively discussed for more than two decades, it is still a highly active field of research with a variety of differe…
Scenarios for Development, Test and Validation of Automated Vehicles
Till Menzel, Gerrit Bagschik, Markus Maurer
The ISO 26262 standard from 2016 represents the state of the art for a safety-guided development of safety-critical electric/electronic vehicle systems. These vehicle systems inclu…
Model Predictive Control Based Trajectory Generation for Autonomous Vehicles - An Architectural Approach
Marcus Nolte, Marcel Rose, Torben Stolte +1
Research in the field of automated driving has created promising results in the last years. Some research groups have shown perception systems which are able to capture even compli…
Towards a Skill- And Ability-Based Development Process for Self-Aware Automated Road Vehicles
Marcus Nolte, Gerrit Bagschik, Inga Jatzkowski +3
The development of fully automated vehicles imposes new challenges in the development process and during the operation of such vehicles. As traditional design methods are not suffi…