Matching Items (5)
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- All Subjects: Autonomous Vehicles
- Genre: Academic theses
- Creators: Shrivastava, Aviral
Description
In recent years we have witnessed a shift towards multi-processor system-on-chips (MPSoCs) to address the demands of embedded devices (such as cell phones, GPS devices, luxury car features, etc.). Highly optimized MPSoCs are well-suited to tackle the complex application demands desired by the end user customer. These MPSoCs incorporate a constellation of heterogeneous processing elements (PEs) (general purpose PEs and application-specific integrated circuits (ASICS)). A typical MPSoC will be composed of a application processor, such as an ARM Coretex-A9 with cache coherent memory hierarchy, and several application sub-systems. Each of these sub-systems are composed of highly optimized instruction processors, graphics/DSP processors, and custom hardware accelerators. Typically, these sub-systems utilize scratchpad memories (SPM) rather than support cache coherency. The overall architecture is an integration of the various sub-systems through a high bandwidth system-level interconnect (such as a Network-on-Chip (NoC)). The shift to MPSoCs has been fueled by three major factors: demand for high performance, the use of component libraries, and short design turn around time. As customers continue to desire more and more complex applications on their embedded devices the performance demand for these devices continues to increase. Designers have turned to using MPSoCs to address this demand. By using pre-made IP libraries designers can quickly piece together a MPSoC that will meet the application demands of the end user with minimal time spent designing new hardware. Additionally, the use of MPSoCs allows designers to generate new devices very quickly and thus reducing the time to market. In this work, a complete MPSoC synthesis design flow is presented. We first present a technique \cite{leary1_intro} to address the synthesis of the interconnect architecture (particularly Network-on-Chip (NoC)). We then address the synthesis of the memory architecture of a MPSoC sub-system \cite{leary2_intro}. Lastly, we present a co-synthesis technique to generate the functional and memory architectures simultaneously. The validity and quality of each synthesis technique is demonstrated through extensive experimentation.
ContributorsLeary, Glenn (Author) / Chatha, Karamvir S (Thesis advisor) / Vrudhula, Sarma (Committee member) / Shrivastava, Aviral (Committee member) / Beraha, Rudy (Committee member) / Arizona State University (Publisher)
Created2013
Description
Network-on-Chip (NoC) architectures have emerged as the solution to the on-chip communication challenges of multi-core embedded processor architectures. Design space exploration and performance evaluation of a NoC design requires fast simulation infrastructure. Simulation of register transfer level model of NoC is too slow for any meaningful design space exploration. One of the solutions to reduce the speed of simulation is to increase the level of abstraction. SystemC TLM2.0 provides the capability to model hardware design at higher levels of abstraction with trade-off of simulation speed and accuracy. In this thesis, SystemC TLM2.0 models of NoC routers are developed at three levels of abstraction namely loosely-timed, approximately-timed, and cycle accurate. Simulation speed and accuracy of these three models are evaluated by a case study of a 4x4 mesh NoC.
ContributorsArlagadda Narasimharaju, Jyothi Swaroop (Author) / Chatha, Karamvir S (Thesis advisor) / Sen, Arunabha (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2012
Description
Automated driving systems are in an intensive research and development stage, and the companies developing these systems are targeting to deploy them on public roads in a very near future. Guaranteeing safe operation of these systems is crucial as they are planned to carry passengers and share the road with other vehicles and pedestrians. Yet, there is no agreed-upon approach on how and in what detail those systems should be tested. Different organizations have different testing approaches, and one common approach is to combine simulation-based testing with real-world driving.
One of the expectations from fully-automated vehicles is never to cause an accident. However, an automated vehicle may not be able to avoid all collisions, e.g., the collisions caused by other road occupants. Hence, it is important for the system designers to understand the boundary case scenarios where an autonomous vehicle can no longer avoid a collision. Besides safety, there are other expectations from automated vehicles such as comfortable driving and minimal fuel consumption. All safety and functional expectations from an automated driving system should be captured with a set of system requirements. It is challenging to create requirements that are unambiguous and usable for the design, testing, and evaluation of automated driving systems. Another challenge is to define useful metrics for assessing the testing quality because in general, it is impossible to test every possible scenario.
The goal of this dissertation is to formalize the theory for testing automated vehicles. Various methods for automatic test generation for automated-driving systems in simulation environments are presented and compared. The contributions presented in this dissertation include (i) new metrics that can be used to discover the boundary cases between safe and unsafe driving conditions, (ii) a new approach that combines combinatorial testing and optimization-guided test generation methods, (iii) approaches that utilize global optimization methods and random exploration to generate critical vehicle and pedestrian trajectories for testing purposes, (iv) a publicly-available simulation-based automated vehicle testing framework that enables application of the existing testing approaches in the literature, including the new approaches presented in this dissertation.
One of the expectations from fully-automated vehicles is never to cause an accident. However, an automated vehicle may not be able to avoid all collisions, e.g., the collisions caused by other road occupants. Hence, it is important for the system designers to understand the boundary case scenarios where an autonomous vehicle can no longer avoid a collision. Besides safety, there are other expectations from automated vehicles such as comfortable driving and minimal fuel consumption. All safety and functional expectations from an automated driving system should be captured with a set of system requirements. It is challenging to create requirements that are unambiguous and usable for the design, testing, and evaluation of automated driving systems. Another challenge is to define useful metrics for assessing the testing quality because in general, it is impossible to test every possible scenario.
The goal of this dissertation is to formalize the theory for testing automated vehicles. Various methods for automatic test generation for automated-driving systems in simulation environments are presented and compared. The contributions presented in this dissertation include (i) new metrics that can be used to discover the boundary cases between safe and unsafe driving conditions, (ii) a new approach that combines combinatorial testing and optimization-guided test generation methods, (iii) approaches that utilize global optimization methods and random exploration to generate critical vehicle and pedestrian trajectories for testing purposes, (iv) a publicly-available simulation-based automated vehicle testing framework that enables application of the existing testing approaches in the literature, including the new approaches presented in this dissertation.
ContributorsTuncali, Cumhur Erkan (Author) / Fainekos, Georgios (Thesis advisor) / Ben Amor, Heni (Committee member) / Kapinski, James (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Created2019
Description
5G Millimeter Wave (mmWave) technology holds great promise for Connected Autonomous Vehicles (CAVs) due to its ability to achieve data rates in the Gbps range. However, mmWave suffers high beamforming overhead and requirement of line of sight (LOS) to maintain a strong connection. For Vehicle-to-Infrastructure (V2I) scenarios, where CAVs connect to roadside units (RSUs), these drawbacks become apparent. Because vehicles are dynamic, there is a large potential for link blockages, which in turn is detrimental to the connected applications running on the vehicle, such as cooperative perception and remote driver takeover. Existing RSU selection schemes base their decisions on signal strength and vehicle trajectory alone, which is not enough to prevent the blockage of links. Most recent CAVs motion planning algorithms routinely use other vehicle's near-future plans, either by explicit communication among vehicles, or by prediction. In this thesis, I make use of this knowledge (of the other vehicle's near future path plans) to further improve the RSU association mechanism for CAVs. I solve the RSU association problem by converting it to a shortest path problem with the objective to maximize the total communication bandwidth.
Evaluations of B-AWARE in simulation using Simulated Urban Mobility (SUMO) and Digital twin for self-dRiving Intelligent VEhicles (DRIVE) on 12 highway and city street scenarios with varying traffic density and RSU placements show that B-AWARE results in a 1.05x improvement of the potential datarate in the average case and 1.28x in the best case vs. the state of the art. But more impressively, B-AWARE reduces the time spent with no connection by 48% in the average case and 251% in the best case as compared to the state-of-the-art methods. This is partly a result of B-AWARE reducing almost 100% of blockage occurrences in simulation.
ContributorsSzeto, Matthew (Author) / Shrivastava, Aviral (Thesis advisor) / LiKamWa, Robert (Committee member) / Meuth, Ryan (Committee member) / Arizona State University (Publisher)
Created2023
Description
Autonomous Vehicles (AV) are inevitable entities in future mobility systems thatdemand safety and adaptability as two critical factors in replacing/assisting human
drivers. Safety arises in defining, standardizing, quantifying, and monitoring requirements
for all autonomous components. Adaptability, on the other hand, involves
efficient handling of uncertainty and inconsistencies in models and data. First, I address
safety by presenting a search-based test-case generation framework that can be
used in training and testing deep-learning components of AV. Next, to address adaptability,
I propose a framework based on multi-valued linear temporal logic syntax and
semantics that allows autonomous agents to perform model-checking on systems with
uncertainties. The search-based test-case generation framework provides safety assurance
guarantees through formalizing and monitoring Responsibility Sensitive Safety
(RSS) rules. I use the RSS rules in signal temporal logic as qualification specifications
for monitoring and screening the quality of generated test-drive scenarios. Furthermore,
to extend the existing temporal-based formal languages’ expressivity, I propose
a new spatio-temporal perception logic that enables formalizing qualification specifications
for perception systems. All-in-one, my test-generation framework can be
used for reasoning about the quality of perception, prediction, and decision-making
components in AV. Finally, my efforts resulted in publicly available software. One
is an offline monitoring algorithm based on the proposed logic to reason about the
quality of perception systems. The other is an optimal planner (model checker) that
accepts mission specifications and model descriptions in the form of multi-valued logic
and multi-valued sets, respectively. My monitoring framework is distributed with the
publicly available S-TaLiRo and Sim-ATAV tools.
ContributorsHekmatnejad, Mohammad (Author) / Fainekos, Georgios (Thesis advisor) / Deshmukh, Jyotirmoy V (Committee member) / Karam, Lina (Committee member) / Pedrielli, Giulia (Committee member) / Shrivastava, Aviral (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021