A framework for definition of logical scenarios for safety assurance of automated driving

Abstract

Objective: In order to introduce automated vehicles on public roads, it is necessary to ensure that these vehicles are safe to operate in traffic. One challenge is to prove that all physically possible variations of situations can be handled safely within the operational design domain of the vehicle. A promising approach to handling the set of possible situations is to identify a manageable number of logical scenarios, which provide an abstraction for object properties and behavior within the situations. These can then be transferred into concrete scenarios defining all parameters necessary to reproduce the situation in different test environments.

Methods: This article proposes a framework for defining safety-relevant scenarios based on the potential collision between the subject vehicle and a challenging object, which forces the subject vehicle to depart from its planned course of action to avoid a collision. This allows defining only safety-relevant scenarios, which can directly be related to accident classification. The first criterion for defining a scenario is the area of the subject vehicle with which the object would collide. As a second criterion, 8 different positions around the subject vehicle are considered. To account for other relevant objects in the scenario, factors that influence the challenge for the subject vehicle can be added to the scenario. These are grouped as action constraints, dynamic occlusions, and causal chains.

Results: By applying the proposed systematics, a catalog of base scenarios for a vehicle traveling on controlled-access highways has been generated, which can directly be linked to parameters in accident classification. The catalog serves as a basis for scenario classification within the PEGASUS project.

Conclusions: Defining a limited number of safety-relevant scenarios helps to realize a systematic safety assurance process for automated vehicles. Scenarios are defined based on the point of the potential collision of a challenging object with the subject vehicle and its initial position. This approach allows defining scenarios for different environments and different driving states of the subject vehicle using the same mechanisms. A next step is the generation of logical scenarios for other driving states of the subject vehicle and for other traffic environments.     

Analysis of short-chain chlorinated paraffins: a discussion paper

Short-chain chlorinated paraffins are a class of organic compounds widely used in many industrial applications, extensively diffused into the environment, persistent, bioaccumulative, and toxic towards aquatic organisms. However, their study and monitoring in the environment are still limited. Because of the enormous number of positional isomers that characterise their mixtures, the analysis of this class of pollutants is very difficult to perform. Beside this, the lack of certified reference materials poses a problem for the assessment of the quality assurance/quality control of any analytical procedure. At present, the scientific community does not agree on any analytical reference method, although the monitoring of short-chain chlorinated paraffins has already started in order to comply with the Water Framework Directive of the European Union on water quality. In this paper the regulatory framework, in which chlorinated paraffins are included, and the status concerning their determination are summarized. The main analytical difficulties still existing are discussed, and the definition of a method-defined parameter as well as the development of a standardised method are suggested as a way to obtain comparable monitoring data.     

Radon as a naturally occurring tracer for the assessment of residual NAPL contamination of aquifers

The noble gas radon has a strong affinity to non-aqueous phase-liquids (NAPLs). That property makes it applicable as naturally occurring partitioning tracer for assessing residual NAPL contamination of aquifers. In a NAPL contaminated aquifer, radon dissolved in the groundwater partitions preferably into the NAPL. The magnitude of the resulting radon deficit in the groundwater depends on the NAPL-specific radon partition coefficient and on the NAPL saturation of the pore space. Hence, if the partition coefficient is known, the NAPL saturation is attainable by determination of the radon deficit. After a concise discussion of theoretical aspects regarding radon partitioning into NAPL, related experimental data and results of a field investigation are presented. Aim of the laboratory experiments was the determination of radon partition coefficients of multi-component NAPLs of environmental concern. The on-site activities were carried out in order to confirm the applicability of the "radon method" under field conditions.     

Photoacoustic in-vivo spectra of recent stromatolites

In-vivo photoacoustic spectra (PAS) of pure cultures of cyanobacteria and photosynthetic bacteria (Chromatiaceae) which usually occur in stromatolitic microbial mats were measured. The PA spectra of the pure cultures were compared to PA spectra measured directly on different layers of microbial mats from Mellum (North Sea). The advantages of PAS of opaque, solid samples (e.g., sediment, rock), and of particle suspensions (e.g., light-scattering cell cultures with interference by sulfur globules) over conventional spectroscopy using classical in-vivo or extraction photometry are discussed.     

Survey of mercury,cadmium and lead content of household batteries

The objective of this work was to provide updated information on the development of the potential impact of heavy metal containing batteries on municipal waste and battery recycling processes following transposition of the new EU Batteries Directive 2006/66/EC. A representative sample of 146 different types of commercially available dry and button cells as well as lithium-ion accumulators for mobile phones were analysed for their mercury (Hg)-, cadmium (Cd)- and lead (Pb)-contents. The methods used for preparing the cells and analysing the heavy metals Hg, Cd, and Pb were either developed during a former study or newly developed. Several batteries contained higher mass fractions of mercury or cadmium than the EU limits. Only half of the batteries with mercury and/or lead fractions above the marking thresholds were labelled. Alkaline–manganese mono-cells and Li-ion accumulators, on average, contained the lowest heavy metal concentrations, while zinc–carbon batteries, on average, contained the highest levels.     

Ignition of dust-air atmospheres by ultrasonic waves

This paper shows the results of our investigations on the ignition source ultrasound in dust-air atmospheres. Ultrasound is, on the one hand, considered to be an ignition source according to international safety standards (EN 1127–1 (2011)). On the other hand, though, ultrasound is used for various applications in gases and air, such as level and flow measurement, or in the process industry, but no explosion accidents have yet been reported. Our research now shows that it is indeed possible to ignite dust-air mixtures in ultrasound fields under certain conditions. We conducted our experiments in an ultrasound standing wave field and used maize starch, calcium stearate and sulfur dust. For ignitions, an absorbing target was needed to convert the acoustic energy into heat. From theoretical estimations and experiments critical conditions that provoke ultrasonically triggered explosions are identified.