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.     

The degradation of anilazine and dihydroxy‐anilazine at various soil depths of an orthic luvisol

Abstract

In conformity with Guideline 4.1 of the Federal German Biological Agency, degradation experiments with the fungicide active ingredient [benzene ring‐U‐¹⁴C]anilazine and its major metabolite [triazine ring‐U‐¹⁴C]dihydroxy‐anilazine were carried out in an orthic luvisol. Mineralization of the benzene ring carbon of anilazine amounted to less than 2 % in 110 days and that of the triazine ring carbon of dihydroxy‐anilazine to less than 8 %. Increasing the incubation temperature from 22 °C to 30 °C and adding organic substance influenced the mineralization slightly. In soils which received two or three applications in succeeding years with subsequent ageing in the open‐air lysimeter no stimulation of the mineralization was observed. Extractions after incubation showed that only 10.2 to 18.6 % of the ¹⁴C‐activity applied with anilazine was extractable with acetone/CaCl₂. The major proportion was bound in the fractions of the soil organic matter, namely 45.0 to 59.6 % of the radiocarbon applied was accounted for by the humin fraction, 12.0 to 27.4 % by the fulvic acids, and 9.4 to 15.0 % by the humic acids. In the case of dihydroxy‐anilazine, 28.9 to 89.7 % of the applied ¹⁴C‐activity was extractable with acetone/CaCl₂. Of tJhe radiocarbon bound in the soil, the greatest proportion, i.e. 18.5 to 35.5 % of the radiocarbon applied, was accounted for by the fulvic acids.     

Alloimmune memory for glycoproteid recognition molecules in sea anemones competing for space

A highly specific recognition system, capable of distinguishing between allogeneic (non-clonemates) and syngeneic (clonemates) conspecifics, exists in Anemonia sulcata (Coelenterata: Anthozoa). During a competitive interaction between allogeneic individuals, specialized structures (acrorhagi) are exposed and used to sting opponents. This complex behavior is called the acrorhagial response. In order to quantify this behavior we measured the acrorhagial response time (period from first contact with opponent to full expansion of acrorhagi). More than 320 reciprocal histoincompatibility responses were recorded. These histoincompatibility (H) markers are free components of the sea anemone mucus: they were characterized as glyco-proteins of a molecular weight <18 KD (Kilo-Dalton) containing terminal -d-glucose and/or -d-mannose. In alloimmune memory testing experiments, the memory trace in A. sulcata was found to persist for 5 d.     

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.