autonet2030 project: automated* driving*supported*by ... · 27/3/2015 2015(etsiits(workshop...
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AutoNet2030 Project: AUTOMATED
DRIVING SUPPORTED BY COOPERATIVE ITS
Andras Kovacs, Lan Lin, Filippo VisintainerBroadBit Hitachi CRF
2015 ETSI ITS Workshop
27/3/2015 2015 ETSI ITS Workshop
AutoNet2030 overview
Project full ,tle: Networked Automated Driving by 2030
Coordinator: Andras Kovacs / ΒroadBit
Project partners:
Star,ng Date: November 1, 2013
Ending Date: October 31, 2016 Budget Total/Funding: 4.6 MEUR / 3.3 MEUR
This project has received funding from the EU’s 7th Framework Programme for research, technological development and demonstra,on under Grant Agreement NO 610542
27/3/2015 2015 ETSI ITS Workshop
Shall automated vehicles be cooperaHve?
Parking assistEmergency braking
Automated Cruise controlLane keeping
Highway platooning...
Fully autonomous driving
Improving sensors and control algorithms
ITS Communica-ons mainly for driver warning apps
ITS Communica-ons in support of automated driving, or all automa-on
shall be based on sensor input?
27/3/2015 2015 ETSI ITS Workshop
CooperaHve automaHon pre-‐requisites & perspecHves
The obvious pre-‐requisite is for cooperaPve ITS to be widely deployed before the maturaPon of fully automated driving technology. Otherwise, it is much more difficult to replace exisPng technology.
Up to date, the most well-‐known automated car demos have been sensor based (Google car, VisLab car, etc.). CooperaPve automaPon demos have mostly focused on truck use cases (highway platooning).
27/3/2015 2015 ETSI ITS Workshop
CooperaHve vs Sensor-‐based automaHon
Sensor-‐based automa<on:
✴up to 2-‐3 sec forward planning
✴extensive amount of sensors is needed for reliable automa;on
✓no legacy vehicle problem
The mission of AutoNet2030 is to prove and demonstrate the benefits of coopera-ve ITS automa-on
Coopera<ve ITS automa<on:
✓up to 5-‐10 sec forward planning with the exchange of maneuver plans
✓less sensors are needed for reliable automa;on, 5.9 GHz broadcas;ng and sensors are complementary
✓Oncoming vehicles can be detected even when not visible
✓Direct V2I coordina;on with intersec;on controllers is feasible
✴legacy vehicle problem, concerning non-‐coopera;ve vehicles
27/3/2015 2015 ETSI ITS Workshop
AutoNet2030 mission statement
Specific project objec<ves:• Standardized use of 5.9 GHz V2V communica;ons in service of automated driving• A path for cost-‐op;mized automated driving technology, making it more widely deployable
• Demonstra;on of inherently safe coopera;ve maneuvering control algorithms
Rather than designing a single ‘maneuvering algorithm’, the approach is to develop a number of algorithms for specific traffic scenarios. There is a dynamic transiPon among the vehicle states.
27/3/2015 2015 ETSI ITS Workshop
Relevant ETSI ITS work itemsAutoNet2030 plans to contribute to the ongoing standardizaPon work or
potenPal standard revisions in ETSI TC ITS:AutoNet2030 specifica<ons ETSI TC ITS WIs
AutoNet2030 use cases TR 102 638: use case definiPon
CAM extension for cooperaPve automated driving applicaPons EN 302 637 – 3: CA basic service
CooperaPve lane change service PotenPal new WI proposal
Convoy control service TR 103 298: Platooning pre-‐standardizaPonTR 103 299: CooperaPve ACC pre-‐standardizaPon
CooperaPve IntersecPon Control Service TS 101 539-‐2: IntersecPon collision risk warning
CooperaPve sensing service TS 103 324: CooperaPve ObservaPon Service
CooperaPve EGNSS Message Service TS 102 894 – 3: PosiPon and Time
All message format specificaPons TS 102 894-‐ 2: Common Data DicPonary
Reliable Basic Transport Protocol ETSI EN 302 636-‐5-‐1: BTP
Extended GeoNetworking ETSI EN 302 636-‐4-‐1: GeoNetworking
27/3/2015 2015 ETSI ITS Workshop
Proposed CAM extensions -‐ 1/3On of the most important standardizaPon request is the extension of the periodic CooperaPve Awareness Messaging (CAM) for automated driving support. The AutoNet2030-‐AdaptIVe-‐iGame projects are preparing a joint CAM extension proposal. The currently considered addiPonal fields are as follows:
27/3/2015 2015 ETSI ITS Workshop
Proposed CAM extensions -‐ 2/3
27/3/2015 2015 ETSI ITS Workshop
Proposed CAM extensions -‐ 3/3In AutoNet2030, we consider traffic situaPons in which the awareness is paramount and we require that CAMs are transmiged with 10Hz in several situaPons e.g. when driving in a platoon or convoy.
For this reason, we introduce addiPonal generaPon rules that transmit CAMs a high frequency in such situaPons also exploiPng more than one transmission channel to divide the load.
The generaPon rules of the extended CAM are proposed per operaPon mode:
! Normal Mode: the triggering condiPons and generaPon rules in ETSI EN 302 637-‐2 apply. The generated CAMs are transmiged over the Control Channel (CCH).
! High Awareness Mode: 10 Hz CAM generaPon. The generated CAMs are transmiged over CCH according to usual rate rules, addiPonal CAMs are transmiged over the Service Channel 6 (SCH6).
27/3/2015 2015 ETSI ITS Workshop
Should some maneuvering algorithms be also standardized?
Some maneuvering algorithms, such as CooperaPve-‐ACC, use the dynamics of their neighbors as input parameters. The following formula shows an example of Laplacian control approach to mulP-‐lane CooperaPve-‐ACC (m,n are neighbor indices, x,y are longitudinal and lateral coordinates):
This kind of approach reliably converges to a stable formaPon if the control parameters of above equaPon are the same for all vehicles.
! Should ETSI ITS scope include also the standardiza;on of such maneuvering control algorithms?
27/3/2015 2015 ETSI ITS Workshop
ITS G5 channel usage for vehicle automaHon support
Vehicle automaPon use cases require low-‐latency communicaPon and frequent broadcasPng of vehicle data. AutoNet2030 overcomes CAM frequency limitaPon (as set by congesPon control) by sending addi<onal CAM messages on a Service Channel. The policy is being considered also by AdapPve project.ETSI SCH6 (ITS-‐G5D, for future ITS) could be the candidate.
However, current standard ETSI EN 302 663 sets too low power limit.
AutoNet2030 and Adap,ve are evalua,ng together another Service Channel for demonstra,on purposes, ad interim (possibly SCH1).
Maximum limit of mean spectral power density for each channel type
( source ETSI EN 302 663, V1.2.1)
This project has received funding from the European Union’s Seventh Framework Programmefor research, technological development and demonstra?on under grant agreement no 610542
THANK YOU!ANY QUESTIONS?
Andras Kovacs
FIND OUT MORE on www.autonet2030.eu