Transcript Co-operative ITS - Asia-Pacific Economic Cooperation

Co-operative ITS
APEC GNSS Implementation Team
Geoff McDonald
Transport and Main Roads
Current Problem
Road safety
• 1,600 people die on Australian roads each
year (7.86 per 100,000).
• annual economic cost of road crashes in
Australia at $18 billion in 2005. (ATC
2006)
• The Australian National Road Safety
Strategy aims to achieve a reduction in the
fatality rate of 40%, from 9.3 per 100 000
population in 1999 to no more than 5.6 in
2010 (56 per million).
Road deaths in Australia: 1965 to
2005
Thinking Cars
What would you rather do – be well protected in a crash or never
crash at all?
In Vehicle Systems
Communications
GIS
Local Dynamic Map
Real time and dynamic DATABASE
To represent maps, road geometry and other
static information,
together with the positions and attributes of the
neighbouring local VANET nodes enables the
cooperative applications to gather ALL
information needed about the surroundings
around the vehicle map
Layer 1
+Layer 2
Tree
Landmarks for
referencing
Map from
provider
Mapping
• EMAP: enhanced map with accurate
description of road geometry
• Map Update: connection to a map server
+Layer 3
Congestion
Temporary
regional info
Landmarks for
referencing
Map from
provider
!
Tree
Fog
Accident
+ final dynamic layer 4
LOCAL DYNAMIC MAP
Vehicles
Local Dynamic Map:
Objects logically organized in
layers with respect to their
dynamics
Road
side unit
Ego
Vehicle
Com. nodes,
fusion result
Temporary
regional info
Landmarks for
referencing
Map from
provider
Congestion
!
Tree
Fog
Accident
Positioning
• Sensors fusion: GPS, WLAN, accelero,
gyro, IMU, can bus, topo, odo
• EGNOS signal integrity paving the way to
Galileo system
• Map matching: providing a fused position
on a map along with confidence on the
location
• Lane level positioning through combined
e-mapmap matching
Functional overview from CVIS
Road level
Lane-level
Absolute
Lane-level
Relative
Safety application
Horizontal position accuracy
(95%)
Update Rate
(Hz)
V2I or V2V
Stop Sign Assistant-warning
5-10m
1 Hz
--
Curve speed assistant-warning
5-10m
1 Hz
-
Location-based Hazard- warning
5-10m
1 Hz
I2V
Stop Sign Assistant-control
0.3-1m
10Hz
V2I
Traffic signal
0.3-1m
10Hz
V2I
Intersection Collision Warning
0.3-1m
10Hz
V2I
Curve speed assistant-control
0.3-1m
10Hz
V2I
Lane departure warning
<0.3m
>10Hz
V2I
Blind spot warning
<0.5m
10 Hz
V2V
Emergency Electronic Brake Lights
<0.5m
10Hz
V2V
Cooperative Collision Warning
<0.5m
10 Hz
V2V
Forward collision warning
<0.5m
>10Hz
V2V
Positioning
COOPERS
SAFESPOT
CVIS POMA
Hybrid/multi-sensor
GPS (L1) EGNOS
Onboard sensors
Hybrid/multi-sensor
GPS (L1),
EGNOS/Galileo
Odometer
Gyroscope
Differential Odometer
(all from CAB Bus)
Laser Scanner
IMU
V2V communication for
relative GNSS
Infrastructure
IT-transmitter
UWB communications
Hybrid/multi-sensor
L1/L2 GPS receiver,
EGNOS
IXSEA LandINS
navigation system,
Crossbow VG700 or
IMU400
Front Camera
Wireless sensors, map
matching etc
General approach
GNSS component
CVIS Subsystem overview
Thank You
CAM & DENM
• Cooperative Awareness Message
– 100 ms
• Decentralized Environmental Notification
Message
– When required (triggered by an event)
CAM
Profile: basicVehicle mandatory
• vehicleType,
• vehicleSpeed, vehicleSpeedConfidence,
• heading, headingConfidence,
• stationLength, stationWidth,
• yawRate, yawRateConfidence,
• longAcceleration,
• posConfidenceEllipse,
• exteriorLights,
• accelerationControl
DENM
• Decentralized Environmental Notification
Messages (DENMs) are mainly used by the
Cooperative Road Hazard Warning (RHW)
• The general processing procedure of a RHW is:
– Upon detection of an event that corresponds to a
RHW use case, the ITS station immediately
broadcasts a DENM to other ITS stations located
inside a geographical area and which are concerned
by the event.
– The transmission of a DENM is repeated with a
certain frequency.
– This DENM broadcasting persists as long as the
event is present.
DENM Triggering condition
•
•
•
•
•
Hard breaking of a vehicle
e-Call triggering
Traffic jam detection
Detection of a vehicle violating a signal
Detection of a turning collision risk by a roadside
ITS station
• Detection of a slippery road condition (ESP
activation)
• Detection of a low visibility condition (activation
of some lights or antifog)
Local Dynamic Map layers
• Static Maps
• Landmarks (fixed objects in the road, e.g.
trees, buildings, road signs)
• Temporary Objects (e.g. fog area, road
works)
• Dynamic Objects
Sangubashi Trial
Sangubashi Results
Car to car communication for safety
applications
ITS Stations as prerequisite for
Co-operative Systems