Fredrik Warg

RISE Research Institutes of Sweden | II · Electification and Reliability

Background To gain widespread use, assisted and automated driving (AAD) systems will have to cope with harsh weather conditions, such as rain, fog, and snow. This affects the development and testing of perception and decision-making systems. Since the weather cannot be controlled in field tests, the availability and use of virtual simulation and te...

The emergence of Automated Driving Systems (ADSs) has transformed the landscape of safety assessment. ADSs, capable of controlling a vehicle without human intervention, represent a significant shift from traditional driver-centric approaches to vehicle safety. While traditional safety assessments rely on the assumption of a human driver in control,...

One vital safety aspect of advanced vehicle features is ensuring that the interaction with human users will not cause accidents. For remote driving, the human operator is physically removed from the vehicle, instead controlling it from a remote control station over a wireless network. This work presents a methodology to inject network disturbances...

During the last decade, there has been significant increase in research focused on automated vehicles (AVs) and ensuring safe operation of these vehicles. However, challenges still remain, some involving the cooperation and collaboration of multiple AVs, including when and how to perform a minimal risk manoeuvre (MRM), leading to a minimal risk con...

Various types of vehicle automation is increasingly used in a variety of environments including road vehicles such as cars or automated shuttles, confined areas such as mines or harbours, or in agriculture and forestry. In many use cases, the benefits are greater if several automated vehicles (AVs) cooperate to aid each other reach their goals more...

[Context and Motivation] The automotive industry is moving towards increased automation, where features such as automated driving systems typically include machine learning (ML), e.g. in the perception system. [Question/Problem] Ensuring safety for systems partly relying on ML is challenging. Different approaches and frameworks have been proposed,...

We have yet to see wide deployment of automated driving systems (ADSs) on public roads. One of the reasons is the challenge of ensuring the systems' safety. The operational design domain (ODD) can be used to confine the scope of the ADS and subsequently also its safety case. For this to be valid the ADS needs to have strategies to remain in the ODD...

More effective, efficient and flexible ways to manage safety assurance are needed for the successful development and release of Automated Driving Systems (ADSs). In this paper we propose a set of desired assurance method criteria and present an initial overview of available safety assurance methods and how they contribute to the proposed criteria....

Standardisation has a primary role in establishing common ground and providing technical guidance on best practices. However, as the methods for Autonomous Driving Systems design, validation and assurance are still in their initial stages, and several of the standards are under development or have been recently published, an established practice fo...

One of the major challenges of automated driving systems (ADS) is showing that they drive safely. Key to ensuring safety is eliciting a complete set of top-level safety requirements (safety goals). This is typically done with an activity called hazard analysis and risk assessment (HARA). In this paper we argue that the HARA of ISO 26262:2018 is not...

The concept of the Prepare Ships system is to be an integrated navigation support system used for aiding the officer on watch (OOW) to act in time to avoid collisions with other ships as well as safe and efficient navigation in fairways and ports. This document describes the overall functional safety requirements and how these were derived for the...

One of the major challenges of designing automated driving systems (ADS) is showing that they are safe. This includes safety analysis of interactions between humans and the ADS, a multidisciplinary task involving functional safety and human factors expertise. In this paper, we lay the foundation for a safety analysis method for these interactions,...

One of the biggest challenges for self-driving road vehicles is how to argue that their safety cases are complete. The operational design domain (ODD) of the automated driving system (ADS) can be used to restrict where the ADS is valid and thus confine the scope of the safety case as well as the verification. To complete the safety case there is a...

An assurance case contains a structured argument supported by evidence, demonstrating that a system fulfils a certain quality attribute such as safety, cybersecurity or reliability. The traditional way of building assurance cases is, however, not well suited to continuous deployment, and difficult to maintain with a product structure where many var...

Showing that dependable embedded systems fulfil vital quality attributes, e.g. by conforming to relevant standards, can be challenging. For emerging and increasingly complex functions, such as connected automated driving (CAD), there is also a need to ensure that attributes such as safety, cybersecurity, and availability are fulfilled simultaneousl...

Safety-critical systems are subject to rigorous assurance and certification processes to guarantee that they do not pose unreasonable risks to people, property, or the environment. The associated activities are usually complex and time-consuming, thus they need adequate support for their execution. The activities are further becoming more challengi...

Automated Driving Systems (ADS) represent a key technological advancement in the area of Cyber-physical systems (CPS) and Embedded Con- trol Systems (ECS) with the aim of promoting traffic safety and environmental sustainability. The operation of ADS however exhibits several uncertainties that if improperly treated in development and operation woul...

The complexity of developing embedded electronic systems has been increas-ing especially in the automotive domain due to recently added functional re-quirements concerning e.g., connectivity. The development of these systems becomes even more complex for products - such as connected automated driving systems – where several different quality attrib...

There are many different open source real-time operating systems (RTOS) available, and the use of open source software (OSS) for safety-critical applications is considered highly interesting by industrial domains such as medical, aerospace and automotive, as it potentially enables lower costs and more flexibility. In order to use OSS in a safety-cr...

The presented paper presents the ongoing Swedish national research project FUSE (FUnctional Safety and Evolvable architectures for autonomy). Some of the research questions addressed in this project are summarized. The research questions are related both to functional safety and the E/E architecture of vehicles aimed for higher degrees of automatio...

When arguing safety for an autonomous road vehicle it is considered very hard to show that the sensing capability is sufficient for all possible scenarios that might occur. Already for today’s manually driven road vehicles equipped with advanced driver assistance systems (ADAS), it is far from trivial how to argue that the sensor systems are suffic...

Autonomous vehicles are predicted to have a large impact on the field of transportation and bring substantial benefits, but they present new challenges when it comes to ensuring safety. Today the standard ISO 26262:2011 treats each defined function, or item, as a complete scope for functional safety; the driver is responsible for anything that fall...

The presented paper presents the ongoing Swedish national research project FUSE (FUnctional Safety and Evolvable architectures for autonomy). Some of the research questions addressed in this project are summarized. The research questions are related both to functional safety and the E/E architecture of vehicles aimed for higher degrees of automatio...

We propose a broadcast message forwarding algorithm for V2V communication in a platooning scenario for heavy duty trucks. The algorithm utilizes link information, which is piggybacked on the original data packet, to estimate which nodes are best suited to forward the packet. The aim is to reach all nodes in the platoon with as few forward messages...

In this paper we present a novel message forwarding algorithm, the reachability matrix algorithm, for V2V communication in a platooning scenario. The algorithm uses a communication quality estimate to determine appropriate forwarding candidates. We show that the algorithm achieve a higher reliability in the communication compared to only using broa...

SafetyADD is a tool for working with safety contracts for software components. Safety contracts tie safety related properties, in the form of guarantees and assumptions, to a component. A guarantee is a property the component promises to hold, on the premise that the environment provides its associated assumptions. When multiple software components...

As chip multiprocessors with simultaneous multithreaded cores are becoming commonplace, there is a need for simple approaches to exploit thread-level parallelism. In this paper, we consider thread-level speculation as a means to reap thread-level parallelism out of application binaries. We first investigate the tradeoffs between scheduling speculat...

As chip multiprocessors with simultaneous multithreaded cores are becoming commonplace, there is a need for simple approaches to exploit thread-level parallelism. In this paper, we consider thread-level speculation as a means to reap thread-level parallelism out of application binaries. We first investigate the tradeoffs between scheduling speculat...

The traditional single-core processors are being replaced by chip multiprocessors (CMPs) where several processor cores are integrated on a single chip. While this is beneficial for multithreaded applications and multiprogrammed workloads, CMPs do not provide performance improvements for single-threaded applications. Thread-level speculation (TLS) h...

Thread-level speculative execution is a technique that makes it possible for a wider range of single-threaded applications to make use of the processing resources in a chip multiprocessor.We consider module-level speculation, i.e., speculative threads executing the code after a module (i.e., a procedure, function, or method) call. Unfortunately, pr...

It is a common belief that computer performance growth is over 50% annually, or that performance doubles every 18-20 months. By analyzing publicly available results from the SPEC integer (CINT) benchmark suites, we conclude that this was true between 1985 and 1996 -- the early years of the RISC paradigm.During the last 7.5 years (1996-2004), howeve...

Exploiting speculative thread-level parallelism across modules, e.g., methods, procedures, or functions, have shown promise. However, misspeculations and task creation overhead are known to adversely impact the speedup if too many small modules are executed speculatively. Our approach to reduce the impact of these overheads is to disable speculatio...

Exploiting speculative thread-level parallelism across modules, e.g., methods, procedures, or functions, have shown promise. However, misspeculations and task creation overhead are known to adversely impact the speedup if too many small modules are executed speculatively. Our approach to reduce the impact of these overheads is to disable speculatio...

This paper considers program modules, e.g. procedures, functions, and methods as the basic method to exploit speculative parallelism in existing codes. We analyze how much inherent and exploitable parallelism exist in a set of C and Java programs on a set of chip-multiprocessor architecture models, and identify what inherent program features, as we...

Multiprocessors are widely used today as a way to achieve high performance using commodity microprocessors. Since different applications place different demands on the system, performance evaluation in the design phase of such systems is important. The most common method is the use of simulators. This thesis presents a simulator of a multiprocessor...