Download - D3.3 - Standardisation Proposal

EUROPEAN COMMISSION SEVENTH FRAMEWORK PROGRAMME

GA No. 610990

Cooperative dynamic formation of platoons for safe and energy-optimized goods transportation

D3.3 - Standardisation Proposal

Deliverable No. 3.3

Deliverable Title Standardisation Proposal

Dissemination level Public

Written By Sergi Urpi, Applus+ IDIADA

Jordi Pont, Applus+ IDIADA

14/08/2016

Checked by Marcos Pillado (Applus+ IDIADA) WP7 Leader

Sönke Eilers (OFFIS) WP3 Leader

Christian Bruns (Volkswagen) WP4 and WP8 Leader

Henrik Petterson (Scania)

Marta Tobar (Applus+ IDIADA)

17/08/2016

Approved by Magnus Adolfson (Scania) Technical Coordinator 30/09/2016

Issue date

30/09/2016

D3.3 – Standardisation Proposals COMPANION- 610990 Public

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History log

Name Status Version Date Summary of actions made

Applus+ IDIADA Jordi Pont Sergi Urpí

Editor 0.1 08/08/2016 First draft

Applus+ IDIADA Marcos Pillado

Reviewer 0.2 11/08/2016 Revision

Volkswagen Christian Bruns


Applus+ IDIADA Marta Tobar


OFFIS Soenke Eilers


Scania Henrik Pettersson


Applus+ IDIADA Sergi Urpí

Editor 0.7 31/08/2016 Incorporated comments



Applus+ IDIADA Sergi Urpí

Editor 1.1 23/09/2016 Some extra information added




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Executive summary This document reports the work done in task 3.3 “Standardisation Proposals” of WP3 – “Architecture

and Technical Specifications” of the COMPANION project.

This work package concentrates on the development of the overall system architecture. This includes

concepts for the definition of necessary information and its granularity, modelling of information

structure, quality of service and quality of data aspects as well as standardisation proposals.

COMPANION architecture and technical specifications should be developed according to the published

standards to the date regarding the different components to be developed. Communication protocols

and interfaces should be compliant to open, standardised interfaces towards optimising deployment

and scalability (e.g. ETSI ITS or GTFS standards).

In order to implement the new technologies related to platooning in advanced and efficient new

vehicles, it is necessary to set up the standardisation proposals related to the technical specifications

and requirements these involved vehicles and operations should fulfil. According to this, it is necessary

to obtain a validated understanding of the different aspects of the overall system architecture and

information models.

This deliverable will summarises the main standardisation proposals, based on the analysis of test

results performed along the project. These proposals will be compiled and made available to the EC

and the different standardisation bodies as recommendations for future regulatory and self-

compliance initiatives from public and private parties (e.g. Car 2 Car Consortium).


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Contents

History log .................................................................................................................................................... 2

Executive summary ...................................................................................................................................... 3

Contents ....................................................................................................................................................... 4

List of Figures ............................................................................................................................................... 5

List of Tables ................................................................................................................................................ 6

1. Introduction ............................................................................................................................................ 7

2. Current Status ........................................................................................................................................ 8

2.1. ETSI ................................................................................................................................................. 8

2.1.1. ETSI TR 103 299 ........................................................................................................................ 9

2.1.2. ETSI TR 103 298 ........................................................................................................................ 9

2.2. SAE ................................................................................................................................................. 9

2.3. IEEE............................................................................................................................................... 10

2.4. 3GPP ............................................................................................................................................. 10

2.5. ISO ................................................................................................................................................ 11

3. Standardisation Activates ..................................................................................................................... 12

3.1. COMPANION VRA joint Workshop ............................................................................................... 12

3.2. ETSI working item C-ACC and Platooning..................................................................................... 12

4. COMPANION Proposals ........................................................................................................................ 13

4.1. Frequency Channel ...................................................................................................................... 13

4.2. Extended Message Set of CA and DE ........................................................................................... 13

4.3. New Message Set ......................................................................................................................... 14

4.4. Message Transmission Requirements and Future needs ............................................................ 14

4.5. V2I Communications .................................................................................................................... 14

5. Conclusions ........................................................................................................................................... 16

References ................................................................................................................................................. 17

Glossary ...................................................................................................................................................... 18


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List of Figures Figure 1. Example of ITS reference architecture ..................................................................................... 8

Figure 2. Frequency Band ...................................................................................................................... 13


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List of Tables Table 1. Message Fields ......................................................................................................................... 14


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1. Introduction Simple 'cruise control' was the automation of speed maintenance at a single automobile. The concept

of C-ACC aims at the same level of automation but in a cooperative manner between several vehicles:

while in CC mode, when a vehicle in front slowly decelerates, this vehicle will also do, such as to

maintain distance, and relieve driver from taking over control.

Cooperative Adaptive Cruise Control (C-ACC) and Platooning are two use-cases related to the

COMPANION system that are addressed differently depending on the Standards Development

Organizations (SDOs). C-ACC (Cooperative Adaptive Cruise Control) automatically controls the

longitudinal distance, enabling the creating of chain of vehicles following each other at constant speed.

Mainly, C-ACC functionalities are directly related to driver comfort.

Instead, Platooning has a similar concept but it is more related to energy efficiency. Specially, it is

expected that with large vehicles following each other at short distances the air-drag is reduced,

influencing directly on fuel consumption gains.

Both C-ACC and Platooning require V2X information exchange. These needs could be directly supplied

for the other vehicles, performing V2V (vehicle-to-vehicle) communications, or with the assistance of

a fixed communication infrastructure (vehicle-to-infrastructure).

The COMPANION system goes one step forward using coordinated platoons which allow merging

different truck routes in order to maximize the fuel savings.

This deliverable provides an overview of the current status of standardisation for C-ACC (Cooperative

Adaptive Cruise Control) and Platooning on the different SDOs (Standards Developing Organizations).

The document continues presenting the standardisation activities undertaking. The deliverable

concludes proposing standardisation needs based on the current situation in Europe regarding

platooning and taking into account the issues found and the analysis of test results performed during

the project.


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2. Current Status Cooperative Intelligent Transport Systems (C-ITS) are based on the exchange of information in order

get a better understanding of the environment and cooperatively increase safety, traffic efficiency

and improve mobility. Standards are needed to guarantee minimums of quality and safety but

moreover, sue to the fact that vehicles in the C-ITS domain are no longer isolated, standards need to

be agreed in order to facility the exchange of information and therefore, the interoperability of the

systems. When referring to C-ITS, the relevant SDOs active in standardisation of platooning and C-

ACC are

- ETSI – European Telecommunications Standards Institute.

- SAE – Society of Automotive Engineers

- IEEE – Institute of Electrical and Electronics Engineers

- 3GPP – 3rd Generation Partnership Project

- ISO – International Organization for Standardisation.

The following sections will provide details about the different perspective that the before mentioned

SDOs have for the standardisation of C-ACC and platooning.

2.1. ETSI Currently, ETSI is defining C-ACC as a driver assistance system that adjusts automatically the vehicle

speed to keep a target time gap with preceding vehicle making use of data received from other either

ITS Vehicle Stations (IVSs) or ITS Roadside Stations (IRSs).

The C-ACC system includes at least one ITS-S application (denoted as C-ACC application) that

implements the application logic with the services provided by the lower communication layers

(Facilities, Networking & Transport layer, Access layer) as specified in [1] and represented in Figure 1,

and a set of hardware components.

Figure 1. Example of ITS reference architecture


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For the facility layer, the facility modules used should at least be the CA (Cooperative Awareness) basic

service, DEN (Decentralized Environmental Notification) basic service ( [2]) and depending on the

specific scenario, some extra modules as well as some extra messages may be required.

The CA module communicate with other entities of the facilities layer and with the ITS application layer

in order to collect relevant information for CAM generation and to forward the received CAM content

for further processing.

The DEN basic service is a facilities layer entity that operates the DENM protocol. It provides services

to entities at the ITS application layer. At the originating ITS-S, an ITS-S application may trigger, update

and terminate the transmission of DENMs.

An extension of the current CA and DEN messages is also considered and it is planned to be published

soon but is not targeting C-ACC or platooning.

The different manoeuvres that ETSI is addressing are:

- Activation of the C-ACC

- Join of a vehicle to the C-ACC string of vehicles

- Maintain the C-ACC string

- Leave the C-ACC string

- Deactivation of the C-ACC

- Cut-Ins, i.e. vehicle without C-ACC that cuts in a C-ACC string of vehicles

- Lane change of the C-ACC string

- Emergency stop of the C-ACC string

Actually, ETSI ITS WG1 is the responsible for development of application requirements and services

for C-ITS ad is treating in two differentiated working items C-ACC and platooning:

2.1.1. ETSI TR 103 299

“ETSI TR 103 299 - Cooperative Adaptive Cruise Control (C-ACC); Pre-standardisation study” is the

working item that ETSI has defined to address C-ACC. ETSI considers C-ACC an Advanced Driving

Assistance System (ADAS) that adjusts the vehicle speed to keep a desired time gap with preceding

vehicle (target vehicle) to improve driving comfort. In addition, reduction of fuel consumption may

be gained but it is not the primary objective of C-ACC. The document contains a definition of the use

cases and technical requirements identified with some recommendations on technical specifications.

2.1.2. ETSI TR 103 298

“ETSI TR 103 298 - Platooning; Pre-standardisation study” is the working item that ETSI has defined to

address platooning. The work has recently started, some discussions have been initiated but no

documentation has been generated yet.

2.2. SAE SAE is more focused on compiling performance requirements for the V2V Safety Communications

profile, preparing them for a US-mandated implementation of V2V systems. The vehicle would send a

Basic Safety Message, plus path history and path prediction extensions to a host vehicle. This message

gives the information used in a driver warning or alert algorithm.


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The SAE DSRC Technical Committee (DSRC: Dedicated Short-Range Communications) is working on C-

ACC within the Cooperative Vehicle Task Force. The SAE DSRC TC activities are in agreement to ETSI

ITS WG1. In addition, SAE On-Road Vehicle Automation Committee is developing a reference

architecture for the most relevant scenarios of C-ACC but not plan to address platooning in at least the

short term.

2.3. IEEE The intent of IEEE is to harmonize the IEEE 1609 and ISO FAST protocols at 5.9GHz to avoid having to

support different protocols in Europe, US and Japan.

C-ACC and Platooning for IEEE are C-ITS (Cooperative Intelligent Transport System) services that will

be deployed as ITS applications on ITS stations like vehicles. These applications will use ITS station

communication services. Some of these services are network and transport protocols, data link layer

protocols and physical layer protocols which have the necessary latency (low-latency), adapted

bandwidth (moderate bandwidth) and data integrity and security (agile encryption).

IEEE recommends that some communication tasks in C-ACC and Platooning will use IPv6, whereas, for

example, some vendors of WAVE devices and ITS station units others will not us IPv6 for

communications tasks and consider the use of the non-defined messages protocol (not IPv6) for C-ACC

and Platooning scenarios.

2.4. 3GPP 3GPP uses the so called Proximity Service (ProSe). This system allows UEs (User equipment) to discover

and communicate with other UEs that are in proximity directly (Device to device communication).

The latency in ProSe communication may be a problem for V2X because most of the use cases are

intended for common mobile users (pedestrians), but not for vehicles moving at high speed.

So far, ProSe does not support V2X communication but in Release 14 many proposals are towards

enabling V2X features:

Adapt V2X use cases to 3GPP environment. Actually, some other SDOs like ETSI, referenced

different requirements for V2X communication. 3GPP pretends to consider some of them, e.g.

network delay, packet loss rate, etc. Other documents mention some requirements but those

are considered for future mobile networks and they may be critical for LTE.

Adaption for V2X applications and messages such as messages defined in SAE J2735, ETSI

Cooperative Awareness Message (CAM) and ETSI Decentralized Environmental Notification

Message (DeNM).

In addition, 3GPP defines different services (e.g. C-ACC, FCW) in a set of documents. In particular, [3]

studies many V2X services using LTE. These V2X services include V2V communication, V2I

communication and vehicle to pedestrian communication allowing a future implementation and usage

of many standard compliant applications such as C-ACC. C-ACC communication needs are related to

some specific manoeuvres. The vehicles of C-ACC string shall periodically broadcast messages, such as

speed, and gap information. A communication protocol has been defined for joining and leaving the

C-ACC group and it is specified through request and response messages.


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2.5. ISO ISO Technical Committee 204 "Intelligent transport systems" has specified the overall architecture

that covers all protocol stack with the following layers: Access technologies (vehicular WiFi 802.11p,

urban WiFi 802.11b/g/n/ac/ad; cellular networks; satellite; infra-red, LiFi, millimeter wave, etc.),

Networking, Transport, Access and Applications.

The ISO TC204/WG14 (Work Group 14 "Vehicle/Roadway Warning and Control Systems") is developing

a draft of international standard for some functions that includes C-ACC systems. A few of these

functions are now under the development with the collaboration and harmonization of three SDOs

and four working groups. The final objective is to develop compatible standards which enable the

development of interoperable systems.

The ISO work item for C-ACC standardisation is on an early stage of development; it may describe

performance requirements or validation through test procedures. "C-ACC" is considered as an

expansion of the existing ACC concepts which have been previously described in [4]. The C-ACC work

item in addition to requiring active sensing involving radars and camera systems, it will use V2V and

V2I as a requirement to provide several functions using information of the environment.


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3. Standardisation Activates

3.1. COMPANION VRA joint Workshop COMPANION project, through the VRA network organized joint workshop between the relevant

experts in standardisation from the different FP7 Call 10 projects (COMPANION, Adaptive, iGAME,

Autonet2030, VRA) during June 2015. This workshop showed the rest of the projects their activities in

standardisation and identified potential overlaps or gaps that may encourage coordination between

the projects.

Some of the topics identified were:

• V2V Standardisation (new messages set and interaction (com. protocol)) and Interoperability.

• ADAS/AD based systems.

• Standardisation in terms of interaction, use cases and testing methodologies.

• State of the art of Homologation according to the feedback provided for UNECE ITS/AD

informal group.

• Synergies between projects identifying overlaps and coordinate actions and results.

• Wrap up and next steps.

The Workshop concluded with different points to consider starting with some requests made from the

European Commission such as, giving support to Vehicle and Road Automation and promoting

European connected driving and standardisation.

It has been also discussed the necessity of a reference Roadmap for standardisation. WP.29 it is

currently working on it by performing homologations and certifications activities.

Regarding the V2X message set, many approaches were made and helped in specifying a common

target or goal.

This on-going cooperation implied some extensions or creations of the currently existing standards for

Advanced Driver assistance systems with which ISO is working.

3.2. ETSI working item C-ACC and Platooning Applus+ IDIADA has joint discussions of the working item for C-ACC at ETSI ETSI TR 103 299 and

provided feedback based on the lessons learned and tests results during the implementation of the

COMPANION project.

Applus+ IDIADA showed interest and offered resources for contributing to the standardisation of

platooning at ETSI TR 103 298 via the rapporteur of the working item. However, this work has not

really started yet. Nevertheless, Applus+ IDIADA plans to keep contributing to the standardisation

activities of platooning.


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4. COMPANION Proposals COMPANION has identified some needs for enabling platooning manoeuvres based on the current

status of the relevant standards and gaps identified during the implementation of the platooning

solutions.

4.1. Frequency Channel COMPANION project proposes to send general information for platooning through BTP protocol on

the Control Channel (CCH) and controlling and directing information on an specific Service Channel

(SCH). The current protocol stack implements some modifications from the standard ETSI TC ITS stack

(see Figure 2) but it is still using the same frequency (5900 MHz).

Figure 2. Frequency Band

These modifications in the protocol stack are directly related with the extra information needed for

the system. However, 5900 Mhz frequency is still chosen for the control communications with the

intention of being partially compliance with the ITS-G5 protocol stack.

4.2. Extended Message Set of CA and DE The COMPANION project proposes extended version of CAM [5] and DENM [1] for V2V

communications. As mentioned before, extended versions of CAM are used, COMPANION proposes in

Table 1 all the fields required in CAM (for details about the units of the values in the table, please see

[2]):

Name Brief Description

Vehicle ID Vehicle id of the current vehicle.

Platoon ID Platoon id of the current vehicle.

Position in Platoon Vehicle position in platoon according to assignment plan.

Distance to Vehicle Distance to vehicle ahead in s

Speed to Vehicle Speed of vehicle ahead in m/s.

Vehicle speed Speed of the current vehicle in m/s.

Vehicle longitudinal acceleration Longitudinal acceleration of the current vehicle in m/s2.


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Yaw rate Yaw rate of the current vehicle in degrees.

Requested Speed Requested speed of the current vehicle in Km/h.

Retardation of Brake Demanded retardation from brake management system.

Lateral acceleration Lateral acceleration of the current vehicle in m/s2.

Brake pedal position Brake pedal position.

Latitude Latitude in WGS84 coordinate system.

Longitude Longitude in WGS84 coordinate system.

Elevation Elevation in WGS84 coordinate system.

Heading Heading in degrees.

GPS speed Speed retuned from the GPS in m/s.

GPS time Time of GPS fix, microsecond, Unix time.

Time since start of minute Milliseconds since start of minute

Speed of Intruder Speed of the intruder vehicle in Km/h

Distance to intruder Distance to intruder in meters.

Intruder Exist Existence of a intruder vehicle.

Table 1. Message Fields

All fields added to the message transmitted through vehicles are directly related to the platooning

manoeuvre which seeks “comfort” and fuel savings. These needs imply detailed information for

specific scenarios for this use case such as:

Identification of intruders with its current speed and distance gap.

Platoon identification and vehicle identification inside platoon.

Without this extra information the platooning might not be logical possible and even if it could be the

level of safety could totally decrease and became unacceptable for the objectives established.

4.3. New Message Set Some other service messages for directing and controlling the platoon and its members are not

described here but standardisation is foreseen. These messages shall be sent on a separate channel

for platooning application in a way that vehicles in the platoon create a network that will require low

latency and high reliability.

4.4. Message Transmission Requirements and Future needs For the platooning application done in COMPANION project it was also identified that the default

frequency for broadcasting CAMs was not enough and it is proposed to increase to a frequency of 20

Hz since with less frequency the On-board unit is processing information not enough on time for

platooning trucks, implying a considerable loss of safety.

4.5. V2I Communications There is some information not included in the COMPANION system that it is also foreseen to be needed

in a production system. This information is about the physical properties of the truck such us the

length, weight, engine power, height, etc. All this information does not need to be sent between

vehicles (V2V) but it could be sent via the off-board or the on-board system depending on the scenario.


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The COMPANION project uses the communication between the off-board and on-board system to

replace a number of “platooning” messages. Such a requests to join a platoon, merge into platoon,

splitting from platoon and so on are sent from the off-board system to the on-board system in the

plans.


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5. Conclusions The differences between the different SDOs reveal a need for standardisation. Actually, each SDO is

identifying several needs for each application that were briefly introduced in the current document.

These must be specified to ensure and preserve some characteristics like interoperability by commonly

defined communication protocols, thanks to harmonized standardised architecture with standardized

data exchange interfaces and a set of performance requirements for future autonomous driving.

To sum up, the present document lists bellow the standardisation needs identified for the deployment

and operation of truck platoons in Europe based on the analysis of the current standards and the issues

identified during the implementation and operation of the COMPANION system.

Common definition of platooning and C-ACC between SDOs.

New facilities layer protocol (or extension of existing ones) that supports the platooning

application.

Separate frequency channel for C-ACC and platooning. So far, CCH (Control Channel) is being

used but extra bandwidth and usage of SCH (Service Channel) is foreseen.

Separate security solution for the platoon to reduce overhead, e.g. cryptoagility since latency

requirements for platooning operation are high.

Define common arrangement of the platoon based on the truck specifications to maximise the

fuel consumption reduction.

Extension of ISO 26262 for fulfilment of functional safety requirements of platoons.

Legal framework (driver, safety distance) that enables platoon across Europe.


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References

[1] ETSI, “ETSI EN 302 637-3 - Specifications of Decentralized Environmental Notification Basic

Service,” September 2010.

[2] ETSI, “TS 102 894 - 2 V1.2.1 Applications and facilities layer common data dictionary,” 2014.

[3] 3GPP, “GPP-TR-22-885 - Study on LTE support for Vehicle to Everything (V2X) services,” 2015.

[4] “ISO 15622 - Intelligent transport systems -- Adaptive Cruise Control systems -- Performance

requirements and test procedures,” 2010.

[5] ETSI, “EN 302 637-2 V1.3.2 - Specification of Cooperative Awareness Basic Service,” ETSI, 2014.

[6] “ISO/TC 204 - Intelligent transport systems,” 2015.

[7] “C-ACC at SDOs and IP Gap Analysis,” 2016.

[8] “D7.3 Limited validation results of the integrated system,” COMPANION Project, 2016.

[9] “D7.1 Limited results of the on-board coordinated platooning system performance evaluation

via physical testing,” COMPANION Project, 2016.

[10] “D7.2 Limited results of the off-board platoon coordination system via simulation,”

COMPANION Project, 2015.


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Glossary For the purpose of the present document, the following abbreviations apply:

3GPP 3rd Generation Partnership Project ADAS Advanced Driving Assistance System BTP Basic transport Protocol CA Cooperative Awareness

C-ACC Cooperative Adaptive Cruise Control CAM Cooperative Awareness Message CCH Control Channel C-ITS Cooperative Intelligent Transport Systems DEN Decentralized Environmental Notification

DENM Decentralized Environmental Notification Message DSRC Dedicated Short-Range Communications ETSI European Telecommunications Standards Institute HMI Human Machine Interface IEEE Institute of Electrical and Electronics Engineers IRS Intelligent Road Station ISO International Organization for Standardisation IVS Intelligent Vehicle Station LTE Long Term Evolution

ProSe Proximity Service SAE Society of Automotive Engineers SCH Service Channel SDO Standards Developing Organizations UE User Equipment V2I Vehicle to Infrastructure V2V Vehicle to Vehicle

WAVE Wireless Access in Vehicular Environments WIFI Wireless Fidelity WP Working Package

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