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
    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
    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
    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.