Dipl.-Ing.

Jiru, Josef

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  • Patent
    Verfahren und Vorrichtungen für automatische, kooperative Manöver
    ( 2023-03-23)
    Häfner, Bernhard
    ;
    Jiru, Josef
    ;
    Schepker, Henning F.
    ;
    Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
    ;
    Bayerische Motoren Werke AG -BMW-, München
    Offenbart ist ein Verfahren, umfassend die Schritte:- Erhalten einer gemeinsamen Umgebungsinformation wenigstens zweier Maschinen;- Generieren einer Mehrzahl von Kooperationsmanövern, welche jeweils ein Manöver für jede der zwei Maschinen umfassen, auf Basis der Umgebungsinformation;- Bewerten jedes Kooperationsmanövers auf Basis eines vorgegebenen Gütekriteriums;- Auswählen eines Kooperationsmanövers, welches einen vorbestimmten Wert des Gütekriteriums, insbesondere einen Bestwert, aufweist;- Bereitstellen des ausgewählten Kooperationsmanövers für die zwei Maschinen.
  • Publication
    Preventing Failures of Cooperative Maneuvers Among Connected and Automated Vehicles
    ( 2022-09)
    Häfner, Bernhard
    ;
    Jiru, Josef
    ;
    Schepker, Henning F.
    ;
    Schmitt, Georg Albrecht
    ;
    Ott, Jörg
    Automated vehicles will be able to drive autonomously in various environments. An essential part of that is to predict other vehicles’ intents and to coordinate maneuvers jointly. Such cooperative maneuvers have the ability to make driving safer and traffic more efficient. However, among the various communication protocols proposed for maneuver coordination, no single one satisfies all requirements. This paper assesses failure risks and mitigation strategies for cooperative maneuvers, including an analysis of popular protocols regarding this aspect. We evaluate two cooperation protocols representative for different approaches to cooperation, the complex vehicular interactions protocol as well as trajectory sharing, concerning the performance of mitigation mechanisms and their influence on maneuver success rates or times to reach consensus among maneuver participants. Via simulation, we show that both are suitable for cooperative maneuvers in realistic scenarios and investigate the trade-offs individual mitigation mechanisms face. These results are well-suited as guidelines and benchmark for other researchers developing cooperative maneuver protocols.
  • Publication
    Preventing Failures of Cooperative Maneuvers Among Connected and Automated Vehicles
    ( 2021)
    Häfner, Bernhard
    ;
    Jiru, Josef
    ;
    Schepker, Henning
    ;
    Schmitt, Georg Albrecht
    ;
    Ott, Jörg
    Automated vehicles will be able to drive autonomously in various environments. An essential part of that is to predict other vehicles' intents and to coordinate maneuvers jointly. Such cooperative maneuvers have the ability to make driving safer and traffic more efficient. However, among the various communication protocols proposed for maneuver coordination, no single one satisfies all requirements.This paper assesses failure risks and mitigation strategies for cooperative maneuvers, including an analysis of popular protocols regarding this aspect. Next, we evaluate one particular cooperation protocol, the complex vehicular interactions protocol (CVIP), concerning performance of mitigation mechanisms and their influence on maneuver success rates or times to reach consensus among maneuver participants. Via simulation, we show that CVIP is suitable for cooperative maneuvers in realistic scenariosand investigate the trade-offs individual mitigation mechanisms face. These results are well-suited as guidelines and benchmark for other researchers developing cooperative maneuver protocols.
  • Publication
    Proposing Cooperative Maneuvers Among Automated Vehicles Using Machine Learning
    ( 2021)
    Häfner, Bernhard
    ;
    Jiru, Josef
    ;
    Schepker, Henning
    ;
    Schmitt, Georg Albrecht
    ;
    Ott, Jörg
    Cooperative maneuvers will enable automated vehicles to optimize traffic flow and increase safety via vehicle-to-vehicle communication. Different approaches and protocols exist, but no study has investigated how to generate intelligent suggestions for cooperative maneuvers. We use machine learning to propose safe and suitable overtake maneuvers. To this end, we train a classifier for maneuver success as well as regression models on an extensive data set of randomized initial situations. In addition, we show that changing objective functions allows optimizing for different goals like smoothness or driven distance. Our evaluation shows that machine learning is well-suited to suggest cooperative maneuvers while also facing some trade-offs. This work may thus provide a benchmark for advanced studies on cooperative maneuver proposals.
  • Patent
    Method of coordinating one or more maneuvers among vehicles
    ( 2021)
    Roscher, Karsten
    ;
    Jiru, Josef
    ;
    Häfner, Bernhard
    A method of coordinating one or more maneuvers among automated vehicles is presented. The method comprises: planning (21) a coordinated maneuver sequence that involves an initiating vehicle (HV) and a remote vehicle (RV, RV1, RV2, RV3, RV4); and transmitting (22) a request message (CQM) to the remote vehicle (RV, RV1, RV2, RV3, RV4), the request message (CQM) including information specifying the coordinated maneuver sequence.
  • Publication
    QoS Evaluation and Prediction for C-V2X Communication in Commercially-Deployed LTE and Mobile Edge Networks
    ( 2020)
    Torres-Figueroa, Luis
    ;
    Schepker, Henning F.
    ;
    Jiru, Josef
    Cellular vehicle-to-everything (C-V2X) communication is a key enabler for future cooperative automated driving and safety-related applications. The requirements they demand in terms of Quality of Service (QoS) performance vary according to the use case. For instance, Day-1 applications such as Emergency Brake Light warning have less strict requirements than remote driving. In this paper, we seek to answer two questions: Are current LTE networks ready to support Day-1 applications at all times? And, can underperforming situations be reliably predicted based on GPS and network-related information? To address these questions, we first implement a system that collects positioning data and LTE key performance indicators (KPIs) with a higher time resolution than commercial off-the-shelf LTE modems, while simultaneously measuring the end-to-end (E2E) delay of an LTE network. We then use this system to assess the readiness of multiple mobile network operators (MNOs) and a live Mobile Edge Computing (MEC) deployment in an urban scenario. For evaluating whether an adaptable operation is possible in adverse circumstances, e.g., by performing hybrid networking or graceful degradation, we finally use Machine Learning to generate a client-based QoS predictor and forecast the achievable QoS levels.
  • Publication
    CVIP: A Protocol for Complex Interactions Among Connected Vehicles
    ( 2020)
    Häfner, Bernhard
    ;
    Jiru, Josef
    ;
    Roscher, Karsten
    ;
    Ott, Jörg
    ;
    Schmitt, Georg A.
    ;
    Sevilmis, Yagmur
    Automated vehicles need to interact: to create mutual awareness and to coordinate maneuvers. How this interaction shall be achieved is still an open issue. Several new protocols are discussed for cooperative services such as changing lanes or overtaking, e.g., within the European Telecommunications Standards Institute (ETSI) and Society of Automotive Engineers (SAE). These communication protocols are, however, usually specific to individual maneuvers or based on implicit assumptions on other vehicles' intentions. To enable reuse and support extensibility towards future maneuvers, we propose CVIP, a protocol framework for complex vehicular interactions. CVIP supports explicitly negotiating maneuvers between the involved vehicles and allows monitoring maneuver progress via status updates. We present our design in detail and demonstrate via simulations that it enables complex inter-vehicle interactions in a flexible, efficient and robust manner. We also discuss open questions to be answered before complex interactions among automated vehicles can become a reality.
  • Patent
    Verfahren zur Verteilung und Verarbeitung der Service Area eines Kommunikationssystems zur verbesserten Schätzung der Zuverlässigkeit und Latenz einer Datenübertragung
    ( 2019)
    Roscher, Karsten
    ;
    Jiru, Josef
    Eine erste Nutzereinheit (100) wird bereitgestellt. Die erste Nutzereinheit (100) umfasst eine Speichereinheit (110), die eingerichtet ist, zumindest eine erste Zuverlässigkeits-Information über eine erste Zuverlässigkeit einer ersten Kommunikationsverbindung für eine Service Area zu speichern, in der sich die erste Nutzereinheit (100) befindet, oder zumindest eine erste Latenz-Information über eine erste Latenz der ersten Kommunikationsverbindung für die Service Area zu speichern, in der sich die erste Nutzereinheit (100) befindet. Des Weiteren umfasst die erste Nutzereinheit (100) ein Empfangsmodul (120), das eingerichtet ist, eine Nachricht von einer zweiten Nutzereinheit zu empfangen, wobei die Nachricht zumindest eine zweite Zuverlässigkeits-Information über eine zweite Zuverlässigkeit einer zweiten Kommunikationsverbindung für eine Service Area umfasst, in der sich die zweite Nutzereinheit befindet, oder wobei die Nachricht zumindest eine zweite Latenz-Information über eine zweite Latenz der zweiten Kommunikationsverbindung für die Service Area umfasst, in der sich die zweite Nutzereinheit befindet. Ferner umfasst die erste Nutzereinheit (100) eine Prozessoreinheit (130), die ausgebildet ist, eine Gesamtzuverlässigkeit einer Gesamt-Kommunikationsverbindung zwischen der ersten Nutzereinheit (100) und der zweiten Nutzereinheit in Abhängigkeit von der ersten Zuverlässigkeits-Information und in Abhängigkeit von der zweiten Zuverlässigkeits-Information zu bestimmen, oder eine Gesamtlatenz der Gesamt-Kommunikationsverbindung zwischen der ersten Nutzereinheit (100) und der zweiten Nutzereinheit in Abhängigkeit von der ersten Latenz-Information und in Abhängigkeit von der zweiten Latenz-Information zu bestimmen. Dabei ist die Service Area, in der sich die zweite Nutzereinheit befindet, identisch mit der Service Area ist, in der sich die erste Nutzereinheit (100) befindet, oder aber, die Service Area, in der sich die zweite Nutzereinheit befindet, ist unterschiedlich zu der Service Area, in der sich die erste Nutzereinheit (100) befindet.
  • Publication
    Collaborative and distributed QoS monitoring and prediction: A heterogeneous link layer concept towards always resilient V2X communication
    ( 2019)
    Hincapie, Daniel
    ;
    Saad, Ahmad
    ;
    Jiru, Josef
    Vehicle-To-Everything (V2X) communication is a fundamental pillar of autonomous driving. It enables the exchange of safety-critical data between vehicles, infrastructure and pedestrians to enhance the awareness of the surrounding environment and coordinate the execution of collective functionalities vital to achieve full automation. Due to the safety-critical nature of the interchanged information, V2X communication must be resilient, so that it provides reliable connectivity despite of the very dynamic characteristics of both its environment and network topology. In this position paper, we propose a novel concept that aims at achieving resilient V2X communication. We introduce the Quality of Service Manager (QoSM), a collaborative and distributed implementation concept for the Heterogeneous Link Layer (HLL) that operates on the top of the Medium Access Control (MAC). The QoSM first monitors and predicts QoS indicators of Radio Access Technologies (RAT) in Heterogeneous Vehicular Networks (HetVNET). Then, it determines, under the principle of Always Resiliently Connected (ARC), and sets timely the configuration settings of RAT that meet performance and reliability requirements of autonomous driving applications. Should it not be possible to fulfill applications demands, the QoSM can instruct applications in advance to lower the requirements or run in a safe mode. Like in many autonomous driving applications, the concept of our proposed QoSM is distributed and collaborative to enhance accuracy, self-awareness and safety. QoSMs shall be grouped hierarchically according to correlation of applications demands, conditions of communication links and mobility information. Group's members share monitored and predicted indicators, as well as configuration settings. This information is used to determine collectively the configuration of the HetVNET. On the one hand, sharing information among QoSMs increases the amount of correlated data used by prediction algorithms, which improves prediction accuracy. On the other hand, hierarchical groups allow to extend the proposed methodology to other hierarchical elements of the access and core network. With this position paper, we intend to open the discussion on the importance of implementing protocols for sharing parameters that allow distributed and collaborative QoS management for resilient V2X communication.
  • Publication
    Evaluation Methodology for Cooperative ADAS Utilizing Simulation and Experiments
    ( 2019)
    Bittl, Sebastian
    ;
    Seydel, Dominique
    ;
    Pfeiffer, Jakob
    ;
    Jiru, Josef
    Wireless vehicular networks are to be deployed in both Europe and the USA within upcoming years. Such networks introduce a new promising source of information about vehicular environments to be used by cooperative advanced driver assistance systems (ADAS). However, development and evaluation of such cooperative ADAS is still challenging. Hence, we introduce a novel methodology for their development and evaluation processes. It is applied to evaluate the fulfillment of requirements on position accuracy information within exchanged messages. Such requirements are only roughly defined and not sufficiently evaluated in field tests. This holds especially for Global Navigation Satellite Systems (GNSS) optimized for maximum integrity of obtained positions. Such configuration is required to increase robustness and reliability of safety critical ADAS. We find that pure GNSS-based positioning cannot fulfill position accuracy requirements of studied ADAS in most test cases.