raksit thitipatanapong, smrc-cu & michibiki sora, co.,ltd. sanya … · 2017-10-30 · high...
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Raksit Thitipatanapong, SMRC-CU & Michibiki Sora, Co.,Ltd.
Sanya Klongnaivai, Infinite Sora Techonology, Co., Ltd.
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• Technology Transfer
2012 – Join MGA
• Vehicle Monitoring Application
2013 – Multi-GNSS Asia Joint Experiment
• Vehicle Monitoring System
2015 – develop the low cost system
• IoT
2017 –Product developments business start-up
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Raksit Thitipatanapong, M.Sc.
Sanya Klongnaivai, M.Eng
Presented at Asia Oceania Regional Workshop on GNSS
8-10th December 2012
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Algorithm for on-line driving maneuver and severity rating.
Performance assessment of the algorithm comparison between the Conventional GPS and the enchanted QZSS.
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● Safe Vehicle Maneuver
● Aggressive Acceleration
● Hard Brake
● High Speed Turn● Fast Lane Change
● Normally, detected by
● Gyro-meter
● Accelerometer
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The conventional GPS has limitations:
3 meter error
1 Hz resolutionsConsequently, It cannot determine for:
High Speed Turn (in some case)
Fast Lane Change
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Max Resolution 100Hz
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➔The Joint Experiment start from Nov, 2012 in Thailand
➔The results will confirm the proposed applications
➔We will delight to further investigation to confirm the in Asia Pacific Region with corroboration with local institute.
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Vehicle Monitoring System
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R. THITIPATANAPONG, S. KLONGNAIVAI, N. NOOMWONGS and S. CHATRANUWATHANA, "Study of Driver Behavior Detection on Vehicle with Satellite Navigation System (in Thai)," in GEOINFOTECH, GISTDA, Nonthaburi, Thailand, 2013.
Phondeenana, P., Thitipatanapong, R., Klongnaivai, S., Noomwongs, N. et al., "Driver Behavior Detection based On PPP-GNSS Technology," SAE Technical Paper 2014-01-2006, 2014, doi:10.4271/2014-01-2006.
Peerapat Phondeenana, Raksit Thitipatanapong, Sanya Klongnaivai, Nuksit Noomwongs, Sunhapos Chantranuwathana: DRIVER BEHAVIOR DETECTION BASED ON MULTI GNSS TECHNOLOGY. FISITA: World Automotive Congress, Maastricht, The Netherland; 06/2014
N. Noomwongs, R. Thitipatanapong, S. Chantranuwathana, S. Klongnaivai, "Driver Behavior Detection Based on Multi-GNSS Precise Point Positioning Technology", Applied Mechanics and Materials, Vol 619, pp. 327-331, Aug. 2014
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Raksit THITIPATANAPONG, M.Sc., & Sanya KLONGNAVAI, M.Eng
National Electronic & Computer Technology Center, THAILAND
Nuksit NOOMWONGS, D.Eng., & Sunhapos CHATRANUWATHANA. Ph.D.
Smart Mobility Research Center, Faculty of Engineering, Chulalongkorn Univ.
Presented at Geoinfotech 2013, Thailand
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In road accident, there usually are
three main mistake which are man,
vehicle or road combine together.
Missing a link the accident would
become incident.
The person or driver is important
key to avoid an accident so that the
monitoring system will play important role.
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Behavior Physical Parameter
Accelerating Longitudinal Acceleration
Braking
Turning Lateral Acceleration
Lane Changing
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Current 1-Hz conventional GPS receiver
LongitudinalAcceleration
enough accuracy and update rate for estimate.
Lateral Acceleration
For turning, applicable in cases with large displacement and duration.
For lane change, cannot estimate, not enough accuracy and update rate.
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ก. ข้อมูลจาก GNSS ปจัจุบนั ข. ขอ้มูลจาก GNSS 1 วนิาที
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ค. ข้อมลูจาก GNSS 100 มลิลวินิาที ง. ขอ้มูลจาก PPP GNSS
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To Evaluate the Multi-GNSS Technology for Vehicle’s Lateral Acceleration Estimation
Scopes
10-Hz Resolution
To Compare the Output with Single Solutions and RTK Solutions
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Compare the Multi-GNSS estimate lateral acceleration with Inertia Measurement Unit
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JAVAD DELTA-G3T FW: TRE-G3TH
Dual-Frequency, Carrier Phase
Signal Tracked GPS: C/A, P1, P2, L2C, L5
GLONASS: C/A, L2C, P1, P2, L3
QZSS: C/A, L1C, L2C, L5
SBAS:
Raw Data Recording 1 second/point
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http://youtu.be/kwXfIBxs69A
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With series of tests, the peak point
from estimation and IMU were
compared.
The RTK Solution was necessary for
estimating the lateral acceleration in
lane change behavior because the small lateral displacement change.
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http://youtu.be/PgaUap4KjFc
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With series of tests, the peak point
from estimation and IMU were
compared.
There were insignificant different in
results between Single and RTK
solutions because the maneuver was
larger than an accuracy limit of Single solution.
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Conclusion
The precision from Multi-GNSS is the key to detect the risk incident in vehicle driver’s behavior.
Single solution was enough for turning analysis.
RTK solution was required for lane changing analysis.
Future works
The data will re-processing in precise point positioning (PPP) technique.
LEX correction message will be considered.
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Raksit THITIPATANAPONG
Space Technologies Applications
Information, Communication & Computing Research Unit
NATIONAL ELECTRONIC & COMPUTER TECHNOLOGY CENTER, THAILAND
Presented at 10th International Conference on Automotive Engineering, Thailand
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Behavior Physical Parameter
Accelerating LongitudinalAccelerationBraking
Turning Lateral AccelerationLane ChangingAutomotive Symposium 2014 at bangkok motorshow 35
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Current 1-Hz conventional GPS receiver
LongitudinalAcceleration
enough accuracy and update rate for estimate.
Lateral Acceleration
For turning, applicable in cases with large displacement and duration.
For lane change, cannot estimate, not enough accuracy and update rate.
Automotive Symposium 2014 at bangkok motorshow 36
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Automotive Symposium 2014 at bangkok motorshow 37
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Automotive Symposium 2014 at bangkok motorshow 39
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Automotive Symposium 2014 at bangkok motorshow 40
http://youtu.be/kwXfIBxs69A
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The precision from Multi-GNSS is the key to detect the risk incident in vehicle driver’s behavior.
Single solution was enough for turning analysis.
RTK solution was required for lane changing analysis.
Accuracy from RTK solution was less than actual lateral motion from lane changing.
Sub-meter class with high update rate capable for it.
PPP was considered
Automotive Symposium 2014 at bangkok motorshow 41
R. THITIPATANAPONG, S. KLONGNAIVAI, N. NOOMWONGS and S. CHATRANUWATHANA, "Study of Driver Behavior Detection on Vehicle with Satellite Navigation System (in Thai)," in GEOINFOTECH, GISTDA, Nonthaburi, Thailand, 2013.
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Automotive Symposium 2014 at bangkok motorshow 42
Setting SGS PPP
Positioning Mode Single PPP Kinematic
Frequencies/Filter
TypeL1/Forward L1/Forward
Elevations Mask 5º 5º
Ionosphere
CorrectionBroadcast Iono-Free LC
Troposphere
CorrectionSaastamoinen Estimate ZTD
Satellite Clock Broadcast Broadcast
Navigation System GPSGPS, GLONASS,
QZSS
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Automotive Symposium 2014 at bangkok motorshow 43
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G-SPASE, Feb 18 - 19, 2013 44
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Automotive Symposium 2014 at bangkok motorshow 45
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PPP solutions the lane change maneuver can be detected
Detected all vehicle maneuver
Sub-meter class GNSS receiver should be evaluated.
L1-SAIF
U-blox Multi GNSS
LEX
http://papers.sae.org/2014-01-2006/
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Peerapat PHONDEENANA
Smart Mobility Research Center,
Department of Mechanical Engineering, Faculty of Engineering,
Chulalongkron University, Bangkok. Thailand
Presented at 2014 FISITA World Automotive Congress, The Netherland
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The most important parts is driver.
F2014-AHF-021
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F2014-AHF-021
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Behavior Physical Parameter
Accelerating LongitudinalAccelerationBraking
Turning Lateral AccelerationLane ChangingF2014-AHF-021
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Current 1-Hz conventional GPS receiver
LongitudinalAcceleration
enough accuracy and update rate for estimate.
Lateral Acceleration
For turning, applicable in cases with large displacement and duration.
For lane change, cannot estimate, not enough accuracy and update rate.
F2014-AHF-021
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F2014-AHF-021
http://youtu.be/kwXfIBxs69A
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F2014-AHF-021
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F2014-AHF-021
Setting SGS PPP
Positioning Mode Single PPP Kinematic
Frequencies/Filter
TypeL1/Forward L1/Forward
Elevations Mask 5º 5º
Ionosphere
CorrectionBroadcast Iono-Free LC
Troposphere
CorrectionSaastamoinen Estimate ZTD
Satellite Clock Broadcast Broadcast
Navigation System GPSGPS, GLONASS,
QZSS
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P. Phondeenana, N. NOOMWONGS,
S. CHATRANUWATHANA and R.
THITIPATANAPONG, "Driving
Maneuver Detection System Based
on GPS Data," in Future Active Safety
Technology Toward Zero Traffic Accidents, Nagoya, 2013.
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Real
Review the video footage (V-box)
SGS – single solution
Conventional GPS
With 10-Hz update rate
PPP – precise point positioning
Dual frequencies, ionospheric correction
With 10-Hz update rate
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F2014-AHF-021
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The advance multi-GNSS precise point navigation solution was investigated under driving behavior detection algorithm.
The PPP navigation output combine with algorithm can improve:
Lane-change from nothing to half of total incidents.
Turning same as SGS.
There still fault detection that needs to further investigated.
F2014-AHF-021
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This work had tested with a ten-thousand dollars receivers with decimeter accuracy.
To feasible in real application, sub-meter accuracy, hundred dollars will further investigate.
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Nuksit Noomwongs
Smart Mobility Research Center,
Department of Mechanical Engineering, Faculty of Engineering,
Chulalongkorn University, Bangkok. Thailand
Published in Applied Mechanics and Materials 08/2014; 619:327. DOI: 10.4028/www.scientific.net/AMM.619.327
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To improve a simple vehicle maneuver detection algorithm is investigated.
Multi-GNSS with precise point positioning (PPP)
Furthermore, the PPP in this study consisting of 2 method,
(1) Dual Frequencies estimation
(2) QZSS broadcast.
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PPP
Survey class receiver
Dual frequencies ionosphere correction
Precision ~0.2m
$15,000
PPP-L1
Sub-meter class receiver
Broadcast Ionosphere correction from QZSS
Precision ~0.6m
$400 (prototype)
PPPPPP-L1
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Visual: V-box Pro
GNSS: JAVAD G3T
Post Processing with RTKlib
Single Solution
PPP
PPP L1
Vehicle: ISUZU Dmax V-cross 4Dr
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HW 304 in Nakhon Ratchasima
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Both PPP on Multi-GNSS techniques can improve the detection performance in lateral motion detection.
386% overestimate form conventional GPS positioning technique.
43% overestimate in PPP and PPP-L1 techniques
9 times improvements
PPP-L1 indicated that low cost sub-meter class might apply to vehicle detection.
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For commercialization
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Multi-GNSS receiver
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Ublox M8030 Multi-GNSS
(GPS+BDS+QZSS)
(GPS+GLO+QZSS)
Setting for Automotive filter output
Raw satellite measurement
High Frequency Datalogger
5-Hz update rate (positioning and
raw)
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Post Processing with RTKlib
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We have developed the application for Sub-meter accuracy.
Local correction / augmentation via internet connection.
Public augmentation will be the keys to compete with Japan’s QZSS system.
QZSS have tested feasibility on sub-meter satellite augmentation in 2015
Positioning and Signal Band of BDS are advantages over Thai’s sky.
Lower cost on antenna
Urban canyon
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2014
81
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5-Hz resolution
meter trajectory accuracy
82
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Rapid turning with double curvature Rapid turning with single curvature
BrakingFast lane change
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Detection of excessive lateral acceleration
Detection of excessive longitudinal acceleration
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2015
89
Make things run Internet
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90
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Blue U – blox
Green Normal GPS receivers
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Red U – blox
Green Normal GPS receivers
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CU JAXA Honda
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(+66) 93.935.1564
www.infintesora.com
Infinite Sora Technology
Sanya Klongnaivai
สัญญา คลอ่งในวยั
Co-FounderInternet of Things Specialist
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101