integrity monitoring and prediction concept and prototype ... · european space agency, paris...
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Rajesh Tiwari, Technical Lead
NSL, Nottingham UK
Email: [email protected]
Felix Toran, IMPACARS, ESA Project Manager
European Space Agency, Paris France
Email: [email protected]
Website: www.impacars.com
Integrity Monitoring and Prediction Concept and Prototype
for Fully Autonomous Vehicle Resilience and Safety
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Road Traffic Accidents
Autonomous Vehicle: Motivation [1/2]
“In 2018, around 25,100 road fatalities were reported by the 28 EU Member States.”
European Commission, 2018 Road Safety Statistics: what is behind figures?
Source: European Commission’s Press Corner, 2018 Road Safety Statistic: What is behind figures?
• Road fatalities in the EU by transport mode in 2017
• Road fatalities in the EU by type of road in 2017
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Solution: Mutual acknowledgement (reliable)
between two vehicles could reduce number of
accidents.
WAVE protocol: vehicles within close vicinity
can share basic information e.g. location,
attitude and vehicle health.
Road Traffic Accidents and V2V Communication
“According to the scientific study into European Truck Accident Causation (ETAC)
(IRU, 2007), the main cause of accidents on the road is linked to human error
(85.2%). 625 accidents were analysed” –EU-OSHA-European Agency for Safety
and Health at work.
Challenge: Dependency on GNSS and complementary sensors for position and
clock synchronization. Performance is compromised by the dynamic road traffic
environment and sources of noise.
Autonomous Vehicle: Motivation [2/2]
MSG
MSG
MSG
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Definition of Autonomous Passenger Vehicle (SAE)
IMPACARS is developing a game changing approach to improve the potential
safety and integrity required for APV Level 5 (APV 5).
Autonomous vehicles are a solution for:
• Road users’ safety
• Easing traffic congestion and air pollution due to traffic congestion.
The Society of Automotive Engine (SAE) defines levels of driving automation:
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IMPACARS Project Objectives [1/2]
▪ To develop and prove the practical feasibility of an innovative
integrity monitoring and prediction concept for Automatic
Passenger Vehicles (APVs).
▪ To achieve a level of Integrity risk suitable for this domain
(characterized by a very dynamic environment) and will be based
on a derivation of the concept of integrity used in aviation.
IMPACARS Stakeholders’ Opinion and as Objectives of IMPACARS:
▪ All-of-the-time system availability
▪ Reliability, even in a GNSS-denied environment
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IMPACARS Project Objectives [2/2]
IMPACARS Video
https://youtu.be/pENn4CJHpzU
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Integrity Standards and Prototype Concept [1/3]
Integrity Standard for Aviation
• Aircraft landing integrity standard
• Aircraft take-off integrity standard
• Aircraft en-route integrity standard
Integrity Concept for APV 5
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Our concept was motivated by the Highway Code 126, Govt of UK.
The above grades cover all driving scenarios that an autonomous vehicle can
experience in any road traffic environment.
Integrity Standards and Prototype Concept [2/3]
IMPACARS Integrity Concept for APV 5
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GNSS & SBAS
LTE Comms
Confidence level for APVs
Truth Postion
Estimated Position
Horizontal Protection Level
95% Horizontal Error of Uncertainty Level
Horizontal Alert Level
Integrity Standards and Prototype Concept [3/3]
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• Feature Extraction (FE) and Data Association (DA) techniques.
• Use of LiDAR sensors.
• Development of a demonstrator.
• A prototype positioning and integrity engine is being developed and
tested using real data collected on an automotive test track, based
on a variety of scenarios.
• Assessment of achievable integrity performances under the identified
scenarios.
• This will be achieved using real data and considering simulation
approaches
• Assessment of suitability of the developed integrity monitoring and
prediction concept(s).
• Practical constraints considered throughout e.g. equipment costs,
communication channel limitations.
IMPACARS Functional Approach [1/4]
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Testing in 3 stages:
▪ System integration testing in a simulation environment similar to a
road traffic environment.
1. Trolley test in a GNSS denied environment where GNSS systems
are most likely to be affected;
▪ Real Road Traffic Environment
2. Safe and traffic controlled-environment (test track);
3. Free driving in urban, rural and GNSS denied environment.
IMPACARS Functional Approach [2/4]
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Test platform for testing in a safe environmentHW1(GNSS Antenna); HW2(GNSS Receiver); HW3(IMU); HW4(LiDAR); HW5(Camera)
IMPACARS Functional Approach [3/4]: Simulation Test
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2.968 2.9682 2.9684 2.9686 2.9688 2.969 2.9692 2.9694
x 105
-20
-17
-14
-11
-8
-5
-2
1
4
7
10Error in North, East and Up Direction for Narrow View Scenario Before Fusion
GPS Time (s)
Err
or
(m)
North Error
East Error
Up Error
2.968 2.9682 2.9684 2.9686 2.9688 2.969 2.9692 2.9694
x 105
-20
-17
-14
-11
-8
-5
-2
1
4
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10Error in North, East and Up Direction for Narrow View Scenario After Fusion
GPS Time (s)
Err
or
(m)
North Error
East Error
Up Error
IMPACARS Functional Approach [3/4]: Simulation Test
0 10 20 30 40 50 60 70 80 90 1000
10
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Stanford Plot for UNIT Solution from Test_005 (92 Samples)
MI Samples: 5(5.4%)
HMI Samples: 0(0.0%)
MI Samples: 0(0.0%)
Available and SafeSamples: 86 (93.5%)
System UnavailableSamples: 0 (0.0%)
HPE [metres]
HP
L [
metr
es]
Num
ber
of
Poin
ts p
er
Pix
el (log10)
0.2
0.4
0.6
0.8
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1.2
0 10 20 30 40 50 60 70 80 90 1000
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Stanford Plot for UNIT Solution from Test 005 (119 Samples)
MI Samples: 85(71.4%)
HMI Samples: 0(0.0%)
MI Samples: 0(0.0%)
Available and SafeSamples: 34 (28.6%)
System UnavailableSamples: 0 (0.0%)
HPE [metres]
HP
L [
metr
es]
Num
ber
of
Poin
ts p
er
Pix
el (log10)
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
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Sensors to be used within the IMPACARS
GNSS & SBAS
LTE Comms
IMPACARS Functional Approach [4/4]: Real-Traffic Environment Test
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Secondary
Vehicle
Primary Vehicle
IMPACARS Functional Approach [4/4]: Real-Traffic Environment Test
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Threat of collision (Grade I) due to
any system integrity failure.
High-rise building: obstruction,
multipath, NLOS.
IMPACARS Functional Approach [4/4]: Real-Traffic Environment Test
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VIDEO
IMPACARS Functional Approach [4/4]: Real-Traffic Environment Test
https://youtu.be/EyKyA42OtbU
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The blue solid line represents a
COTS solution
The red line shows our
innovative approach.
IMPACARS Functional Approach [4/4]: Real-Traffic Environment Test
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Expected Outcome and Future Work
▪ Expected Outcome:
▪ Reliable data fusion approach and low-cost computation system to
provide high availability and integrity of position solution required for
APV 5 (as per defined in SAE);
▪ System availability and accuracy tested in GNSS denied environments
i.e. urban and/or highly dynamic multipath environment;
▪ Future Work:
▪ GNSS Augmentation and/or relative positioning concepts
▪ Cooperative positioning
▪ Platooning
▪ Compatibility with lower cost equipment
▪ Wheel sensor
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Dissemination
▪ We’ve published the first detailed results of IMPACARS in a paper for
ION ITM 2020. We are presenting our technical results on 23rd
January 2020 at the ION ITM, San Diego, USA.
▪ The application of IMPACARS and innovative outcomes have been
covered in various UK workshops.
▪ The results and potential commercial value of IMPACARS also
presented in NAVISP event in the UK, Scotland.
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Acknowledgement
We would like to thank ESA NAVISP element 1 for financial support
and thanks to our consortium, HORIBA MIRA and University of
Nottingham for their support in field trials.
