Multi-layer cyber-physical control method for mobile robot safety systems

Karjust, Kristo; Majak, Jüri; Pikner, Heiko; Sell, Raivo

doi:10.3176/proc.2021.4.03

Cited by 4 publications

(5 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For the system with seven criteria mentioned above, six experts give their evaluations of the criteria, which are then transformed into a pairwise comparison matrix [29]. Then the linguistic values are transferred to TFN according to [28]. The aggregated evaluation matrix is obtained by the max-min method with the arithmetic mean.…”

Section: Numerical Results and Discussionmentioning

confidence: 99%

“…The autonomous vehicle known as the AV shuttle, which was developed by Astrov et al [25], Sell and Petritsenko [26], and Rassõlkin et al [27], serves as the case study for this investigation. Pikner et al [28,29] provide a detailed introduction to the criteria and risks of such a vehicle. In particular, [29] examines the risk analysis of this model by combining Fuzzy AHP with TOPSIS.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A comparative analysis of Fuzzy AHP and Fuzzy VIKOR methods for prioritization of the risk criteria of an autonomous vehicle system

Mehrparvar,

Majak,

Karjust

2024

PEAS

View full text Add to dashboard Cite

In the current study, two widely used multicriteria decisionmaking methods, the Fuzzy analytic hierarchy process (AHP) and the Fuzzy VIKOR method, have been implemented to prioritize the criteria of a multicriteria decisionmaking problem. Herein, the case study is an autonomous vehicle, the TalTech iseAuto AV shuttle, developed at TalTech University. The criteria of the present problem are evaluated by experts, and after forming the pairwise matrices, these matrices are aggregated by the maxmin method with the arithmetic mean. Subsequently, in the case of Fuzzy AHP, by calculating the weights and normalizing them, the relative importance of each criterion is obtained, which leads to the ranking of the criteria. Moreover, in the case of the Fuzzy VIKOR method, the aggregated pairwise matrix is weighted and normalized. The ranking obtained from both methods is presented and compared. The advantages and disadvantages of the multicriteria decisionmaking methods Fuzzy AHP and VIKOR, featured for risk analysis of the autonomous vehicle systems, are discussed.

show abstract

Section: Numerical Results and Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A comparative analysis of Fuzzy AHP and Fuzzy VIKOR methods for prioritization of the risk criteria of an autonomous vehicle system

Mehrparvar,

Majak,

Karjust

2024

PEAS

View full text Add to dashboard Cite

show abstract

“…Therefore, the speed of the minibus was limited to 20 km/h. The architecture of the vehicle CPS was first explained in [34], and it is divided into layers as described in Figure 2. The AI and high-level decision-making layer make autonomous driving decisions based on the sensor's input layer.…”

Section: Low-level Communication and Safety Architecture For The Av S...mentioning

confidence: 99%

“…Formulation of criteria and risks [34]; • Prioritization of criteria (fuzzy AHP); • Prioritization of risks (fuzzy TOPSIS).…”

mentioning

confidence: 99%

See 1 more Smart Citation

Safety System Assessment Case Study of Automated Vehicle Shuttle

et al. 2022

View full text Add to dashboard Cite

Automated vehicle (AV) minibuses, i.e., AV shuttles, are gaining popularity in the testing of new types of transportation services in real traffic conditions. AV shuttles have moved from closed test areas to low-traffic public sites such as local residential areas, technology parks, university campuses, etc. These types of vehicles are usually low-speed and rely on a lidar-camera sensor set and a self-driving software stack. These new use cases are increasing these systems’ safety demands. In addition to functional safety, many other aspects need to be considered. In this study, a risk analysis model is developed, combining the fuzzy analytical hierarchy process and the Technique for Order of Preference by Similarity to Ideal Solution method. The proposed model is utilized to prioritize risks corresponding to the particular case study, based on real AV shuttle bus development, and focuses on the low-level hardware/software safety issues and improvements.

show abstract