Cooperative ITS and Connected Automated...
53
Cooperative ITS and Connected Automated Vehicles Ola Martin Lykkja, Q-Free ASA, [email protected], 2017-12-14
Transcript of Cooperative ITS and Connected Automated...
Cooperative ITS and Connected Automated VehiclesOla Martin Lykkja, Q-Free ASA, [email protected], 2017-12-14
2
• About Q-Free
• Tolling
• eCall
• Cooperative ITS
• Connected Vehicles
• Connected Automated Vehicles
• NB IoT Parking sensor
Topics
3
SerbiaUK
Slovenia
Q-Free Worldwide
Tolling
- 25 million On-Board Units
- 2500 equipped lanes
- 450 employees
- 20 Countries
Traffic management
Parking
License Plate Imaging
Main title
ContentMulti Lane Free Flow
Traffic
Surveillance
Road User ChargingBack Office
GNSS
Truck Tolling
Video Tolling
Congestion Charging
Multi Lane Free Flow
Traffic Management
Back Office
Truck Tolling
Law Enforcement
Video Tolling
Congestion Charging
Parking & Access
control
Traffic LiightsLightning
Vehicle & Pedestrian Counting
Environment sensors
VMS Signs
Weight in Motion
Q-Free Products and Services
5
Tolling
6
• 2 million tags in Norway
• It is used as an identification system
• The information in the tag is
cryptographically protected.
• It is not possible to read out any data
without correct keys.
• Both access control and authenticated
replies.
Note: This applies to Norway, the toll service
operator decides security level.
Tolling
7
The goal of the EU commission is to make it possible to travel all over Europe with one tolling tag and get the bill back to you home address though your home toll provider.
• Directive 2004/52/EC on the interoperability of electronic road toll systems (update in progress)
• Decision 2009/750/EC on the definition of the European Electronic Toll Service (EETS) and its technical elements
For a comprehensive introduction, refer to Guide for the application of the directive on the interoperability of electronic road toll systems
European Electronic Toll Service
8
• AutoPASS conform to the EC directive.
• More than 230 toll stations financing 60 projects.
• 15 new projects approved by Stortinget including Oslopakke 3.
• Mandatory tolling tag for all trucks over 3.500 kg since 2015.
• Regulations:
• “Forskrift om betaling av bompenger” (2016-12-02)
• “Forskrift om krav til bruk av elektronisk betalingsenhet i motorvogner over 3 500 kg” (2014-10-10)
• “Forskrift om samvirkningsevnen mellom elektroniske trafikantbetalingssystemer iEuropa” (2015-03-20)
• 10 billion NOK are collected each year by 600 million transactions.
• Cooperation with Øresund bridge, Denmark, Austria (EasyGo)
AutoPASS in Norway
9
• Road user charging
• Congestion charging
Tolling globally with European technology (CEN DSRC)
Annual collection in billion NOK (approx):
Norway 10
Sweden 2.5
France 115
Austria 18
Spain 16
Australia 17
Thailand 4
Italy 70 (slightly different)
Japan 170 (different technology)
10
• Alle skilter blir fotografert
• Bildet blir beskåret til kun å inneholde skilt (skjer i kameraet)
• Brikke avleses (kryptografisk signet)
• Dersom brikke er gyldig:
o Bildet slettes umiddelbart (blir ikke sendt fra veikant/bomstasjon)
• Ikke gyldig brikke:
o Bildene (foran og bak) overføres til sentralsystem
o Skilt tolkes automatisk, registreringsnummer leses ut
o Bilen eier hentes fra motorvognregister
o Bildet slettes 60 dager etter betaling
• Faktura utstedes
• Opplysninger beholdes i bompengeselskapets online system i 1 år
• Faktura (som også inneholder passeringsinformasjon) oppbevares i 10 år (regnskapsloven)
• Brikken er knyttet til bilen med registreringsnummeret, bilen har ikke krav på personvern
Personvern i AutoPASS
11
Personvern i AutoPASS
Kjørte jeg for fort?
http://www.fjellinjen.no/Om-AutoPASS-avtale/regler-for-personvern
12
• I Norge måler SVV reisetider ved å observere
AutoPASS brikker i egne reisetidsportaler.
• Brikke-id leses ut fra brikken og
anonymiseres med en hash funksjon
med ca 10.000 mulige hash-verdier.
• Hashingen skaper tvetydighet og
dette opptrer som støy i reisetidene
og filtreres ut.
Reisetid med AutoPASS
13
• Operational systems:
o Germany
o Slovakia
o Hungary
o Switzerland
o New Zealand
o Russia
o Belgium
• Planned and under consideration
o écotaxe in France (cancelled Oct 2014)
o Finland (postponed)
o Sweden (postponed)
o Bulgaria
o Romania
o Singapore, all vehicles, all roads (starts in 2020)
GNSS-basert veiprising
• Trials and tests
– Oregon and Minnesota in USA
– Many places…
GNSS tolling deployment in Germany
• Started in 2005
• LKW-Maut
• Toll Collect GmbH
• Trucks > 7.500 kg
• 16.000 km motorways
• 4500 road segments
• Collects 4-5 billions Euro/year
• 800.000 on-board units
• 50% is foreign trucksEnforcement
gantry on A65
15
On-board equipment in the vehicle collects GNSS positions
Thin client:
• Positions are transferred over 3G/LTE network to a central system
• The tolling rules and fees are not known by the OBE
Thick client
• All calculations are done in OBE, no position details are transferred
• The rules (map) must be known by the OBE
• The tolling invoice is transferred to a central system
Privacy issues
• GNSS position may be leaked to 3rd parties
• The use of GSM/3G networks for data transfer creates a record at the mobile phone operator
How GNSS tolling works
Thin client vs thick client
The GNSS tolling concept support many computing models.
GNSS does not need to be the ultimate big-brother tool.
Privacy
Thick ClientThin Client
Calc. at TTP
Thin Client
Calc. at Proxy
Thin Client
Calc. at TSP
17
eCall
18
eCall – Car calls 112 automatically
There is 25000
fatalities on EU roads
each year. eCall is
expected to reduce
emergency response
time and it's believed
the system could save
as many as 2500 lives
each year.
19
• No tracking
• No time information
• No SIM card required
• Current and optionally one or two past locations are transmitted to the PSAP –
location ambiguity
eCall Privacy
20
Cooperative ITS
Cooperative ITS systemer
• Bil-bil kommunikasjon (V2V)
• Bil-veikant kommunikasjon (V2I, V2X)
• Mange navn
• Connected Vehicle (CV) og DSRC/WAVE (i USA)
• ETSI G5
• IEEE 802.11p
Konseptet er at biler skal sende ut informasjon om seg selv hele tiden slik at andre biler
kan motta dette og evaluerer kollisjons risiko. Men også mange andre applikasjoner.
22
Personal ITS Station
Facilities
Networking & Transport
Access Technologies
...
Managem
ent
3
Sec
uri
t y
Applications
Vehicle ITS Station
Mobile
Router
N etworking
& Transport
Access
Technologies
...
Ma
na
ge
me
nt
Se
cu
rit
y
Vehicle
Host
Facilities
N etworking &
Transport
Access
Technologies
...
Ma
na
ge
me
nt
Se
cu
ri
ty
Applications
Vehicle
Gateway
Facilities
N etworking
& Transport
Access
Technologies
...
Ma
na
ge
me
nt
Se
cu
ri
ty
ECU ECU
N etworking & Transport
Access
Technologies
...
Ma
na
ge
me
nt
Ethernet
Se
curi
ty
IPv 6
Border
Router
Facilities
N etworking
& Transport
Access
Technologies
...
Mana
ge
ment
Ethernet
Sec
ur i
ty
CAN bus
Facilities
N etworking &
Transport
Access
Technologies
...
Man
ag
em
ent
Secu
r ity
Applications
Ethernet
Central
HostCentral
Gateway
Traffic Centre/Service Centre
Central ITS Station
Roadside ITS Station
5.9
SENSCtrl
N etworking
& Transport
Access
Technologies
...
Ma
na
ge
me
nt
Ethernet
Se
cu
ri
ty
IPv 6
Facilities
N etworking
& Transport
Access
Technologies
...
Ma
na
ge
me
nt
Ethernet
Se
cu
ri
ty
CAN bus
Facilities
N etworking &
Transport
Access
Technologies
...
Ma
na
ge
me
nt
Se
cu
ri
ty
Applications
Ethernet
Roadside
Host
N etworking & Transport
Access Technologies
...
Man
age
men
t
5 . 9 GHz
Secur
ity
Ethernet
Access
Router
Loop Detector
Roadside
Gateway
Border
Router
Data Sharing
Cloud
Architecture For Cooperative ITS
23
ETSI, ISO and CEN.
Follows ISO 7-layer ISO model.
Clear layering, clear API.
Q-Free was very active in promoting
and standardizing this architecture.
USA have their own model
Cooperative ITS – Communications Architecture
24
• All ITS messages are signed
• Each vehicle has a large set of cert/keys in
its vault.
• Dispose certs/keys after each drive, after a
few hours
• How to store keys and certs?
Is hardware TPM always better than software?
Security
25
Cooperative ITS – Data sharing perspective
Back Office
Control Centre
Traffic Management Centre
26
• In-vehicle retrofit (after-market ITS):
• Roof-top antenna
• iPad/Android on dashboard or passenger device.
• Drawback: no automated safety features
• Fast introduction, but may(?) disappear with built-in capability
• In-vehicle integrated after-market
• High-end vehicles have retrofit in-dash computers
• Allows some integration for safety applications
• Built-in system from car maker
• Best from technical perspective
• Long time to saturate vehicle population
• Challenging market…
In-vehicle Configurations
C-ITS
• En stor familie standarder
• ETSI TC ITS
• IEEE 802.11 og 1609
• ISO 204 og CEN 278
• SAE
• 3GPP LTE V2X (kanskje?)
• Sporing av biler
• Dette er primær mål – men bare korttidssporing
• Forhindre langtidssporing Bytte identifikatorer «ofte»
28
Day one Applications – Focus on Safety
Use case: Longitudinal collision risk warning
Lane changes
Stationary vehicles
Electronic bake light
Slow moving vehicle
Use case: Intersection collision risk warning
31
Use case: Signalled intersections
Provides vehicles and drivers with lane-level maps with signal phase information.
Use case: Electronic traffic signs
Represent all kinds of signs in a machine
readable format
• Always up to date and online
• Temporary signs
• Roadworks
• Accidents
• Speed
• School zones
Better navigation and guidance systems
«Extended vehicle» concept
Car manufacturer offers
connectivity solutions.
Collect a lot of information and
resell to whoever wants to buy.
Deliver premium data to their
customers to increase safety
and value to (only) them.
Closed and proprietarycar manufacturer cloud
Maintenance services Concierge services
Emergency services Entertainment services
Connected Automated Vehicles
35
Connected Automated Vehicles
36
Connected Automated Vehicles
37
• Maps
• Signaled intersections
• Traffic regulations in electronic format
• Signs
• Information from other vehicles
• The core of Cooperative ITS
New initiative in CEN TV278/WG17 Urban ITS
• Management for Electronic Traffic Regulations – METR
• Urban ITS Mandate (EC M/546)
Information is key to sucessfull CAV deployment
38
The accuracy of these maps
varies, but one mapping
company claims that the HD
map has absolute accuracy
better than 1 meter and relative
accuracy of 0.2 meters.
Created by lidar, radar, and
other sensors.
That is hardly good enough for
use with accurate GNSS.
Maps
39
Non-trival signs
40
Non-trival signs
Impossible to interpret all of this without local context
information (ref: Beboerparkering in Oslo)
41
Challenge
• Cities are increasingly forced to set local regulations to meet traffic problems
• These regulations are often temporary, or otherwise have time validity restrictions
• Regulations are usually geographically limited; sometimes down to lane level or parking bay level
• Dissemination and enforcement of regulations is difficult and costly today
o temporary traffic signs, roadside billboards, newspaper notices, radio announcements, traffic police, parking wardens,…
o Some cities have started using proprietary Apps for some of the dissemination
• This is a highly manual and very costly process
o Hampers mobility
o Not transparent for outside users - also a language barrier
42
Management for Electronic Traffic Regulations
• Rules are time-and-place referenced
• Many relevant standards already exist
• Security is paramount: Integrity and Availability
• Role split:
o Generate/maintain regulations
o Aggregate/disseminate regulations
o Use regulations
• Trust is a major issue
• Need full end-to-end trust chain
• Security should be based on the C-ITS Platform Trust Model plus EU-US Harmonization to avoid regional lock-in
• Laws needs to be changed: The metal plate on a pole is no longer the only normative publication of the regulation.
43
Who decides when CAV is mainstream?
United Nations Economic
Commission for EuropeUNECE
EU Parlament
Norway
VW emmision scandal aftermath
44
Two UNECE WP29 conventions: 1958 and 1998
1958
• 60 states
• ECE-Regulations, type approvals
• Working on International Whole
VehicleType Approval (IWVTA) ->2019
• EU controls votings (28 votes).
• USA and China are not in
1998
• 30 states
• GTR. Technical requirements
• No type approvals
• EU has one vote
• USA, China and South-Korea er in
• Less binding for members.
Norway is full member in both.
45
WP29 Task force CS/OTA – Cyber Security and Over The Air issues
• Robustness against hacking
• Software updates
• Data security when sending/receiving data to/from infrastructure
WP29 ITS/AD – Intelligent Transport Systems and Automated Driving
• They invented the 6 SAE levels
• Use areas: urban/highway
WP29 GRRF – Brakes and Running Gear
• Driver support systems
• Interface between driver and automation
WP1 – Harmonization of traffic rules (see METR)
• Who is responsible?
• Adapt rules for CAD
UNECE - Current hot topics for vehicles
46
UNECE WP29 – Taskforce for CS/OTA
Created Nov-2016
Scheduled to complete Dec-2017
Support from ISO/IEC, ITU and
ENISA.
New ISO/SAE-standard 21434
Cyber Security (ISO/TC22)
47
• Vehicles have many ECU that communicates with each other
• CAN bus capacity is exhausted
• Most functions in the vehicle are controlled by a ECU today
• Software updates are more frequent
• Should the vehicle need to be type approved again after software update?
• The type approval authorities should get detailed information about software
upgrades and have facilities to verify that a vehicle has the proper software.
• OTA and online (internet) access to ECU increase threat level
• Software and ECU maintenance will be an important part of maintenance
• The expected lifetime of vehicles will go down
• Who own the data? Vehicle owner or the car manufacturer?
Challenges in future vehicles
48
Parking
49
XXX PRESENTATION
Ground mounted outdoor vehicle detector
• Telenor: Infrastructure, upgraded 3 base stations with NB IoT
• Huawei: NB IoT upgrades to Telenor network
• uBlox: Modem modules
• Statens vegvesen: Access to parking lot in Trondheim
• Q-Free parking sensors
50
Low power wide area network based on LTE within the 3GPP architecture
NB IoT
CIoTUE
E-UTRAN C-SGN
HSS
SCEF
CIoT Services
S1CIoT Uu
S6a
T6a
SGi
SMS-GMSCIWMSC
SMS Router
SGd
51
NB IoT
NB IoT
Parking sensor
eNodeB
‘base station’IoT Platform
App Server
on internett
IP / UDP / CoAP or NIDD / CoAP IP / HTTPS
Mobile operator
Security factors
• SIM cards, access control
• Air interface encrypted
• The IoT platform limits access to/from internett
• Very low bandwidth
53
Q-FREE ASA CORPORATE PRESENTATIONXXX PRESENTATION
