cooperative vehicle-infrastructure systems - welcome · pdf file ·...

Paul KompfnerHead of Development

VANET 2007, 10 September 2007

Cooperative Vehicle-Infrastructure Systems

European vision for V2I communications

VANET 2007, Montreal 10 September 2007

Outline

Vision

The CVIS project

Technologies

Applications

Deployment issues

European framework


Background

• Europe is 27+ individual countries, united in a “Union” responsible for some common matters

• EU “government” has limited competencies

• Growing awareness of potential for cooperative systems

• …but no organisational basis, evidence of benefits

• …so no “VII” or “Smartway” national programme

• …instead some large R&D projects, all stakeholders

• …able to produce key results and input to standards.


CVIS Vision

“Create a wireless network between vehicles & infrastructure”

“Increase efficiency & safety through vehicle-infrastructure cooperation”


A cooperative system network…

“CVIS-net”

Driver Traffic light

Truck

Bus

Car

FCD database

Traffic centre

Service provider

Traffic info centre

Payment clearer

Map server

Police

Road sign


TCC

TIC

SPHMC

I am in a traffic jam,...

My attributes are...

The best route to the car park is via...

A space is reserved for you on the 2nd floor ...

You can download

services...

We recommend those vehicles travelling

to ... should divert via ...The road ahead is congested...

I measure.

I display ...

You may use

the bus lane

temporarily...

I will change

in 7 sec...

Controllers on section ...,

please do ...

I want to go to...

There is an

accident...

I want to

park...

Travel time on

the next link is...

Chatter…


About the CVIS project


CVIS in Brief

Coordinator:ERTICO – ITS Europe

Duration:

Four years to 31 Jan 2010

Total budget: €41 Million (€22 Million EU)

Consortium: 60 partners (12 countries)


CVIS Timetable

Months2007 20082006 2009


CVIS core technology: CALM*

*ISO TC204 WG16, ISO 212XX


Why “CALM”?

• Provides “Continuous Communication” for V-I & V-V

• Select most appropriate comms medium, according to application requirements, urgency, QoS, value

• Supports roaming & handover between base-stations, operators, different media, and service suppliers

• Supports ITS and Internet Services

• Full DSRC, 2G/3G, WiFi and broadcast receiver integration using a convergence layer

• Based on 802.11p, GSM, 3G, IR, milli-metric, DSRC, GPS

• Based on IPv6, with Network Mobility (NEMO)


Vehicle-infrastructure communications(CVIS in blue shading)

Variable Message Sign

Hot-Spot(Wireless LAN)

Terrestrial BroadcastRDS, DAB

UMTSWiMAX

Beacon

•CALM-M5

•CEN-DSRC

•CALM-IR

GPS, Galileo

Info-Broadcaster

BroadcastTransmitter

Vehicle-to-Vehicle (M5, IR, MM)

GSM-GPRS

Sat-Comm


CALM architecture (2007)


CALM-M5 Active 5.9 GHz Microwave

• International superset of WAVE (IEEE 1609), adapted for European and international regulations and multimedia requirements

• Enables omni- and semi-directional communication (up to ~500m)


CALM-2G/3G Cellular

• Adaptation of existing cellular systems to the CALM vehicular environment

• Cellular adds wide range communications

• Can support rescue (eCall) and subscriber based services like on-line navigation and traffic information


CALM-Infrared

• Adds beaming capability (line-of-sight)

• High data rate

• Position-dependent messages (e.g. lane selective)

• High transmission reliability and privacy


CVIS architecture


CVIS high-level architecture

Centers

RoadsideVehicles

Personal(Handheld)

Devices

CVIS (IPv6) network

CentersPersonal

(Handheld)

Devices

Personal space

(Handheld devices)

VehiclesVehicles RoadsideRoadside and

Local area

Centres

(Management, Control, Service,

Data providers)


CVIS sub-project architecture


CVIS service architecture

Roadside

Nomadic

in Veh

Host

Management

Centre

Service CentreService Centre

Host

Management

Centre

Software

Suppliers

App

Governing

Organisations

Service

Providers

End

users

App

AppApp

App

Flows:

Information flow

Software flow


CVIS subsystems

Handheld Subsystem

Router

Gate-

way

Gate-way

Gate-

way

Roadside Subsystem

VMS Ant

SENSCtrl

Access

RouterRoadside

Host

Roadside

GatewayRouter

Vehicle Subsystem

Router

Antenna

Vehicle

Gateway

SENS

SENS

CtrlCtrl

Central Subsystem

Service

Centre

Control

Centre

External communicationCALM

IPv6

InternetInfrared, M5, G3, GSM

…


IPv6


…

Authority

Databases

Central

Host

Border

Router

CentralHost

RouterCentralHost

Router

VehicleHost

Host Services

CALM

Network

CentralHost

Gate-way

Handheld Subsystem

Router

Gate-

way

Gate-way

Gate-

way

Roadside Subsystem

VMS Ant

SENSCtrl SENSCtrl

Access

RouterRoadside

Host

Roadside

GatewayRouter

Vehicle Subsystem

Router

Antenna

Vehicle

Gateway

SENS

SENS

CtrlCtrl

Central Subsystem

Service

Centre

Service

Centre

Control

Centre

Control

Centre


IPv6


…


IPv6


…

Authority

Databases

Authority

Databases

Central

Host

Border

Router

CentralHost

RouterCentralHost

Router

VehicleHost

Host Services

CALM

Network

CentralHost

Gate-way


FOAMHMI Security Vehicle API Mntg Agent

Operating System and Hardware

Real-timeapps

COMOserver

POMAMapping server

(native) JVM

Runtime environment (OSGi)

ParkBooking

SmartAccess

Dang.Goods

CooperativeDriving

CooperativeGuidance

Apps

Services

Platform

Core

Functions

Inside the host platform

CALM Manager

Middleware


Standard Automotive PC Hardware + RT Linux

Advanced

Routing

Antenna

(Roof Layer)

Media HW

PlatformCore

Functions

Inside the router

ISO-CALMExtensions

M5 +

DSRC

GPS/

Galileo

2G/3G

CellularIR

COMM

Manager

Rooftop Antenna IR

Media plug-in Manager


CVIS Sensor & M5 cardGyro

Accelero-

meter

20ch

GPS

OBD-II

CAN Bus

CEN

DSRC

2.5 / 5 GHz

802.11 radios

modified for:

- Euro 802.11p

- DSRC RT sync

- GPS time sync

FPGA: PCI, Serial ports & softcore CPU

Realtime GPS & DSRC sync, sensor fusion/timestamp


CVIS Reference antenna

GSM/UMTS

Antenna

2-6 GHz

Antenna 2

2-6 GHz

Antenna 1

GPS

Antenna

CEN DSRC

Antenna


CVIS technology sub-projects


COMM – communication services

• Service Discovery (register/query mechanism)

• Service Advertisement (publish/subscribe mechanism)

• Broadcast pool function (non-IP)

• Communication protocol between vehicle gateway and CVIS host

• Router for IP addresses

• Network mobility support


COMM – communication & network services


FOAM – open application management

Provides

� access control

� services discovery

� communication

� remote management

� JAVA OSGi platform

� open and future-proof application platform


CVIS Host Platform

FOAM – host platform

FOAM open Platform

ParkingTraffic-

status

Warning

Data

access

tree

Hardware / OS

Commu-

nication

Discovery

Position

new…

Governing

Organisation

Host

Management

Centre (HMC)

Update

new…

Remote

mgmt


FOAM - Distributed Directory Service

��Find another application (provide URI=IP:port)

��Notify the presence of a certain application

Host Hos

t

Hos

t

Host

Host

Host

“MyRSU”

“MyCentre”

“all local Partners

with my Application”

HostBA Communication reach

of RSU

HostA

just discovered that an App “A” (IP:port) is in communication

reach

just discovered that an App “B” (IP:port) is in communication

reach


POMA - positioning subsystem

CVIS Vehicle InfrastructureC

OM

M M

od

ule

s

CPU

DGPS

Augmentation

Wireless Sensor

Network(Loops, Cameras,

Beacons, etc.)

WLAN Network

L1

GPS

OBDI/F

Accele-

rometer

L1/L2

GPS

3-axis IMU

Compass

CO

MM

Mod

ule

s

SpeedSensor

Gyro

RadioLink

Router PCOptional ext.

Sensors

POMA components

COMM components

OEM Gateway

Vehicle wheel sensors

Standard setup (minimum)

Optional extended setup


POMA - positioning techniques

WLAN localisation WSN localisation

WLAN POS.

BOXCOMM

INFRASTR.

AP1AP2

AP3

AP4

6WLAN POS.

BOXCOMM

INFRASTR.

AP1AP2

AP3

AP4

6


COMO - Cooperative Monitoring


CVIS applications


CVIS Applications

Cooperative Monitoring

� XFCD, fusion with infrastructure sensors

Urban

� Cooperative network management

� Cooperative area destination-based control

� Cooperative acceleration/deceleration

� Dynamic bus lanes

Interurban

� Enhanced driver awareness

� Cooperative travellers' assistance

Freight and Fleet

� Access control

� Dangerous goods

� Parking booking


CURB - urban


CINT - interurban


CF&F – freight/fleet


Demonstration plan

Cooperative Monitoring

Cooperative Network Mgmt

Cooperative Area Routing

Cooperative Traffic Control

Dynamic Bus Lanes

Enhanced Driver Awareness

Cooperative Traveller’s Assistance

Dangerous Goods

Book and Monitor Parking Zones

Vehicle Access Ctrl Sensitive Zones

GermanyFrance Italy NL – B Sweden UK

CURB:

CINT:

CF&F:

COMO:


Looking towards deployment


Enabling CVIS Deployment

Openness and interoperability

Safe, secure and fault-tolerant design

Utility, usability and user acceptance

Costs, benefits and business models

Risks and liability

CVIS as policy tool

Deployment road-maps


Topic 2: Openness & Interoperability

CVIS Data Model

CVIS data model

FOAM

POMA

COMO

Vehicle bound objects

11 Veh_driving

12 Veh_driving_map_attached

13 Veh_state

14 Veh_route_sofar

15 Veh_navi

16 Veh_environment

RSU bound objects

21 RSU_veh_driving

22 RSU_veh_driving_map_attached

23 RSU_veh_state

24 RSU_veh_route_sofar

25 RSU_veh_navi

26 RSU_veh_environment

27 RSU_local_traffic_state_macro

28 RSU_local_traffic_state_micro

Center bound objects

31 Center_veh_driving

32 Center_veh_driving_map_matched

33 Center_veh_route_so_far

34 Center_veh_navi

35 Center_RSU_local_traffic_state_macro

36 Center_RSU_local_traffic_state_micro

37 Center_local_traffic_state_macro

38 Center_local_traffic_state_micro

39 Center_network_current_traffic_state_macro

40 Center_network_short-term-forecast_traffic_state_macro

41 Center_network_OD_route_distribution

42 Center_network_current_traffic_demand

CF&F

V0.1?

1 Location_data

2 Route

3 Deregistration

4 Notification

4b Incident_notification

Routing related objects

1 Vehicle_position

2 Route_guidance_request

3 Monitoring_(de)registration_request

4 Route_guidance_proposal

Parking_zone related objects

10 Parking_zone_reservation_request

11 Parking_zone_reservation_proposal

12 Parking_zone_reservation_selection

13 Parking_zone_reservation_confirmation

14 Parking_zone_approach_announcement

15 Parking_zone_approach_confirmation

16 Vehicle_identification

17 Vehicle_presence

18 Parking_zone_violation

Resting_area related objects

20 Resting_area_reservation_request

21 Resting_area_reservation_information

22 Resting_area_reservation_selection

23 Resting_area_reservation_confirmation

24 Resting_area_appraoch_announcement


26 Vehicle_presence

27 Local_map

28 Parking_zone_violation

Sensitive_zone related objects


31 Vehicle_diagnostics_information

32 Sensitive_zone_definition

33 Sensitive_zone_traffic_status

34 Message_to_driver

CINT

1 Network

2 Node

3 Estimated_travel_time_request

4 Route advice

5 Traveled_distance

6 Required_time_of_arrival

7 Micro_traffic_situation

8 Incident

9 Transaction

10 Customer

11 Vehicle_characteristics

COMM

1 Node Identifier(RSU, vehicle, etc)

type of node

fixed or mobile

geo position

speed

direction

2 Interface Identifier(interface of a node)

etc ...

state

reliability

type of interface

bandwidt

cost

CURB v6

CURB common objects

1 Vehicle

2 Vehicle_position

3 RSU_info

4 Contr_rules

5 Current_LoS

6 Current_travel_time

7 Current_traffic_flow

8 Current_travel_speed

9 Current_queue_length

10 Local_traffic_state

11 Incident_information

12 Network_traffic_state

13 VMS_info

CURB application specific objects

Flexible lane allocation

20 Buses_arriving

21 Lane_status

22 Auth_data

23 Permission_data

24 Ack_msg

25 Enforcement_msg

26 Leave_buslane

Local traffic control

27 Green_request

28 Speed_profile

29 Veh_info_broadcast_to_rsu

Routing and network management

30 Veh_inf_broadcast_to_rsu

31 Update_interval

32 Predicted_LoS

33 Predicted_travel-time

34 Route_monitoring

35 Coop-TMS

36 Strat_route_info

37 Route_request

38 Route_supply

39 Route_confirm

40 Drg_dest_list

41 Drg_monitoring_position

42 On-line-sim_res

Data exchange between driver and in-car system

43 Drg_destination

44 Drg_selected_route

45 Drg_route_opt

46 Drg_navigation_suggestion

Physical Information Object

Functional Information Object


How do you rate these systems in terms of usefulness?

1 2 3 4 5 Of no use Neutral Very useful

Flexible Lane Allocation

Imagine: your car can receive information about the availability of bus laneYou could... use bus lanes without upsetting the public transport system

Topic 4 – Utility, usability and user acceptance

Questionnaire – Assess user needs

� 14 different languages, 2500 responses expected


Other European initiatives


SAFESPOT

RearRear

DetectionDetection

Blind SpotBlind Spot

SideSide

CrashCrash

LaneLane

SupportSupport

CollisionCollision

MitigationMitigation

Extended RearExtended Rear

Detection &Detection &

Blind SpotBlind Spot

CooperativeCooperative

WarningWarning

Infrastructure BasedInfrastructure Based

WarningWarning

Road Side Equipment Road Side Equipment

(local or remote)(local or remote)

Extended Safe Distance Extended Safe Distance

and Speedand Speed

Extend the driver’s “Safety Margin” to

detect and prevent potential accidents

“Dynamic vehicle net” and “vehicle to infrastructure net” extends range of on-board vehicle systems

Lane ChangeLane Change

AssistantAssistant


COOPERS

TISP

Toll Operator

TCC

RDS-TMC


Conclusions

• Adaptable, future-proof technology built on global standards

• Feasibility of creating extensive vehicle-infrastructure networks

• Enables rich provision of services

• Interoperability and openness are essential

• Business model is not yet clear

• Need for European – and global – “Cooperative Systems Alliance” to begin deployment


Contact

Paul Kompfner

ERTICO – ITS Europe

326 Avenue Louise

1050 Brussels, Belgium

[email protected]

+32 2 400 0732

www.cvisproject.org

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