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.     

An Assessment of Residues from Duct Injection Demonstration Sites

The duct injection retrofit process for flue gas cleanup of sulfur dioxide emissions has been demonstrated at several sites in the United States through a series of U.S. Department of Energy research projects. As a subcontractor on one of the projects, the University of North Dakota Energy & Environmental Research Center performed a comprehensive characterization of four residues from three demonstration sites. The characterization task objective was to facilitate understanding of materials handling and to identify potential disposal and utilization options for these high-volume coal utilization solid residues. Characterization included evaluation of the physical and engineering properties, chemical composition, mineralogy, and leaching potential. Chemical characterization results provided interesting and valuable information from the standpoint of the bulk chemistry and phase assemblages, as well as potential environmental issues associated with the use or disposal of these materials. Results of the chemical and mineralogical characterizations indicate that duct injection residues will be suitable for specific utilization applications and that disposal of these residues should be similar to many conventional coal combustion residues. Significant mineralogical phase changes were noted in long-term leaching experiments.     

The dioxin/POPs legacy of pesticide production in Hamburg: Part 2—waste deposits and remediation of Georgswerder landfill

α-HCH, β-HCH, and γ-HCH (lindane) were listed as persistent organic pollutants in the Stockholm Convention. Therefore, they need to be globally addressed including the wastes remaining from historic use and production. While at most lindane production sites the unintentionally produced 85 % HCH waste isomers have been deposited, at a former pesticide factory in Hamburg-Moorfleet HCH waste isomers have been recycled from 1953 to 1984 by thermal decomposition to chlorobenzenes and resulted in high polychlorinated dibenzo-p-dioxin/polychlorinated dibenzofuran (PCDD/PCDF)-contaminated residues. The management of the PCDD/PCDF-contaminated waste from the former pesticide factory in Hamburg has been assessed and quantified. Based on past accredited PCDD/PCDF measurements, the registered 3,700 tonnes of disposed thermal HCH decomposition residue contained 333 to 854 kg of PCDD/PCDF toxicity equivalent (I-TEQ) in 53–102 tonnes total sum of PCDD/PCDF. The wastes have been deposited together with other wastes in landfills in Hamburg and other parts of Germany. For the Georgswerder landfill (Hamburg), where approximately 50 % of the PCDD/PCDF is disposed, current and previous situation and remediation activities are described. While PCDD/PCDF leaching from the landfill is controlled and incinerated, more water soluble organochlorines (vinyl chloride, cis-1,2-dichlorethene, chlorobenzenes) and benzene remain as a challenge for groundwater management. A comprehensive aftercare program has been established and will need to be operated by future generations including renewal of containment systems. Former lindane/HCH productions need—in addition to HCH deposits—to be assessed for possible recycling practice of HCH and related PCDD/PCDF-containing deposits. This could systematically be addressed within the Stockholm Convention implementation.     

The effect of landfill leachate composition on organics and nitrogen removal in an activated sludge system with bentonite additive

A pre-denitrification activated sludge system (AS) without internal recycle was used in lab-scale studies of landfill leachate treatment. A bentonite supplement at a ratio of 1:4 (mineral : biomass) was used to ensure high sludge settling levels and to serve as a micro-organisms carrier. The system was operated within different parameters such as hydraulic retention time (HRT), ammonia loading rate (ALR) or external recycle ratio, which was adapted to treat varying leachate concentrations of COD and ammonia, ranging from 1020 to 2680 mgO(2)l(-1) and 400-890 mgNH(4)-Nl(-1) respectively. The nitrification was complete and ammonia oxidation reached 99%; this was obtained while the ALR did not exceed 0.09 g NH(4)(+)-Ng(-1)MLVSS d(-1) and HRT was not lower than 1 day (in the aeration reactor). The performance of denitrification was successfully improved by controlling the external recycle rate, when the BOD(5)/N ratio in the raw leachate was 4.1. Consequently, N-removal of up to 80% was achieved. A 10-fold decrease in the denitrification rate was obtained at a BOD(5)/N ratio of 0.5. The efficiency of COD removal varied significantly from 36% to 84%. The positive effect of bentonite addition was determined and is discussed based on preliminary studies. The experiments were carried out in fill-and-draw activated sludge with bentonite; the biomass ratio was 1:2. The activated sludge with bentonite was fed with a synthetic high ammonia and organic-free medium.     

The phytotoxic effect of C(1)/C(2)-halocarbons and trichloroacetic acid on the steppe plant Artemisia lerchiana

Artemisia lerchiana is a wormwood species of the Central Asian steppe regions, where it completely cover whole areas. For the first time it was possible to show through field experiments that C(1)/C(2) halocarbons (VCHCs), such as chloroform (CHL), tetrachloroethene (PER) and hexachloroethane (HEX), can be taken up by test plants of the species A. lerchiana via the soil/root pathway and metabolised inter alia into trichloroacetic acid (TCA) under semi-aride conditions. At the same time, chlorophyll a fluorescence measurements carried out on the test plants revealed a phytotoxic influence on plant vitality (max. decline in vitality of 52% with application of CHL) and less efficient energy flows in the photosynthesis mechanism of the A. lerchiana test plants. The authors examine possible links between the simultaneous appearance of VCHCs and additional drought stress in the acceleration of desertification processes.     

PROBLEMS IN FORECASTING WATER REQUIREMENTS1

ABSTRACT. Methodological problems associated with forecasting water requirements by use of regression analysis are examined. Problems occurring when long-range forecasts are based on linear and nonlinear extrapolation of time series models include possible changes in socioeconomic conditions, water allocation system structure, and limits to growth. Problems arising in forecasting based on multiple regression models are likely to involve serially dependent errors, multicollinear explanatory variables, and difficulties inherent to the presence of explanatory variables that must themselves be predicted.     

MANAGING CRISIS: THE EFFECTIVENESS OF LOCAL DISTRICTS FOR CONTROL OF GROUND WATER MINING1

: This article examines the willingness and capacity of local districts to control ground water mining of the Ogallala Aquifer in the High Plains. The questions of willingness and capacity were approached through extensive field interviews and a survey of all district board members and managers. The analysis focuses on the policy alternatives board members and managers perceive and how they evaluate these alternatives. Methodologically, the study utilized factor analysis of responses rating the desirability of various policy alternatives to ascertain what alternatives were perceived by the sample. Then the sample's preferences for each of the identified factors were calculated. The results demonstrate that the sample of those who must regulate if ground water mining is to be controlled at the substate level are not oriented to regulatory policies and therefore lack the willingness to deal with ground water mining.     

The annual course of TCA formation in the lower troposphere: a modeling study

We present a modeling study investigating the influence of climate conditions and solar radiation intensity on gas-phase trichloroacetic acid (TCA) formation. As part of the ECCA-project (Ecotoxicological Risk in the Caspian Catchment Area), this modeling study uses climate data specific for the two individual climate regimes, namely "Kalmykia" and "Kola Peninsula". A third regime has also been included in this study, namely "Central Europe", which serves as a reference to somehow more moderate climate conditions. The simulations have been performed with a box modeling package (SBOX, photoRACM), which uses Regional Atmospheric Chemistry Mechanism (RACM) as its chemistry scheme. For this model a mechanism supplement has been developed including the reaction pathways of methyl chloroform photooxidation. The investigations are completed by a detailed sensitivity study addressing the impact of temperature and relative humidity. Atmospheric OH and HO2 concentrations and the NOx/HO2 ratio were identified as the governing quantities controlling the TCA formation trough methyl chloroform oxidation in the gas phase. Model calculations show a TCA production rate ranging between almost zero and 6.5 x 10(3) molecules cm(-3) day(-1) depending on location and season. In the Kalmykia regime the model predicts mean TCA production rates of 1.3 x 10(-4) and 5.4 x 10(-5) microg m(-3) year(-1) for the urban and rural environment, respectively. From the comparison of model calculations with measured TCA burdens in the soil ranging between 130 g m(-3) and 1750 g m(-3) we conclude that TCA formation through methyl chloroform photooxidation in the gas-phase is probably not the principal atmospheric TCA source in this region.