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Transcript of COOPERATIVE - ITS (C-ITS) APPLICATIONS …€¦ · GPS PROCESSING +.. Electronic ... Direct Control...
COOPERATIVE - ITS (C-ITS)
APPLICATIONS
Performances
G5 Channels Management
Applications
(Non crash avoidance)
Summary of targeted applications
ROAD SAFETY TRAFFIC EFFICIENCY
(SUSTAINABILITY)
MOBILITY / COMFORT
ISO TC 204
WG18
TC 278 WG16
ROAD HAZARD SIGNALING
RHS (CAA)
LONGITUDINAL COLLISION
RISK WARNING (LCRW)
INTERSECTION COLLISION
RISK WARNING (ICRW)
TYRE PRESSURE
MONITORING SYSTEM (TPMS) TC 301
COLLECT INFO TRAFFIC
(FROM CAM / DENM)
CONTEXTUAL SPEED
IN-VEHICLE SIGNAGE
ELECTRIC VEHICLE
CHARGING SPOT
NOTIFICATION (EVCSN)
INFO TRAFFIC &
Recommended Itinerary
POI Notification
and Local
Electronic Commerce
(book & pay local
services)
Road Safety Model
PRIMARY ROAD SAFETY SECONDARY
< 1sec
Between 1 and 3 Sec
Between 2 and 5 Sec
Time To Collision (TTC)
TERTIARY
10 Use Cases
Between 5 sec and 30 Sec
Collision
Emergency
Call
Pre – Post Crash Automatic Warning Awareness Info
Cooperative
Awareness
(RHS)
Collision
Risk
Warning
(LCRW,
ICRW)
In-Vehicle
Signage
Road Safety applications
ROAD HAZARD SIGNALING (RHS)
DTS 101 539-1
CAM interval
Setting
DENM Control DRIVER
AWARENESS
Originating Receiving
LONGITUDINAL
COLLISION
RISK WARNING
(LCRW)
DTS 101 539-3
INTERSECTION
COLLISION
RISK WARNING
(ICRW)
DTS 101 529-2
DRIVER
ASSISTANCE
CRASH
AVOIDANCE
IF TARGET IS
CRASH AVOIDANCE:
Minimum Performance
Requirements:
Position accuracy
Data freshness
Traffic Efficiency applications
CAM
DENM
Transfer pre-processed CAM & DENM
Contextual Speeds
In-Vehicle Signage
Traffic Info & Recommended Itineraries
DATEX II RSU
Traffic Management
Center
Advices
Recommendations
Regulations
Traffic Efficiency standard (1)
CAM
DENM
Evolution of DATEX II
CAM & DENM
Pre-processing
Traffic data
Road hazard
ISO TC 204
WG18
RSU
Traffic Management
Centre
ISO / NP17429
Profiles for processing and transfer of information
between ITS Stations for applications related to
transport infrastructure management, control and
guidance.
RSU Configuration
Traffic Efficiency standards (2)
ISO TC 204
WG18
TC 278 WG16
French proposal
IN-VEHICLE SIGNAGE
(Generic part : Actors / roles / Message common part)
SPEED
Regulatory /
Contextual
FIX / VARIABLE
Message Signs
Info Traffic &
Recommended
Itinerary
HMI & Speed
limiter
Only HMI HMI & Navigation
Reprogram.
Required,
Not yet
Started
Sustainability applications
At Intersections Driver HMI
Signal Phase
& Timing (SPAT) +
Intersection
Topology
Signal Violation
Driver HMI
Audio
Alert
Driver HMI
POTENTIAL APPLICATIONS
Signal violation warning
Green Light Optimized Speed Advisory
Optimized Stop – Start at traffic lights
ISO TC 204 /
CEN TC 278
Commercial / Citizen RSU
Safety & Traffic Management
EV Charging spot notification (POI)
Transport intermodality Hub (POI)
Visitor Internet Access (POI used by
community for Certificate updating)
SCORE@F Example: Citizen Roadside Unit
RSU
Mobility & Comfort services
Mobility & Comfort services
POI: EV Charging Spot Notification
ETSI DTS 101 556-1
EV Charging
Station
RSU 1
RSU 2
Broadcasting of dynamic data
Availability per type,
Waiting time,
Energy price,
Possibility to book / pay (Contact)
…etc.
Mobility & Comfort services
POI: Tyre Pressure Gauge Station
ETSI DTS 101 556-2
TYRE PRESSURE
GAUGE (TPG)
TYRE PRESSURE MONITORING
SYSTEM (TPMS) – M/457
Service
Announcement
Data exchange : Vehicle
Characteristics and load,
Tyres characteristics…etc.
System Life Cycle Management
POI: Life Cycle Management – Security Management
e.g. Service to community through Visitor Internet
Access (VIA) through G5 RSU
Security
Mgnt Centre RSU Vehicle
CCH SCH1 CCH SCH1
SAM
VIA POI VIA*
Request
VIA
Granted Security pseudonyms
update request
Security pseudonyms
update (IEEE 1609-2)
3G + Internet (IPv6) G5
For vehicles only
Equipped with G5
3G
Router
COLLISION AVOIDANCE
APPLICATIONS
PERFORMANCES
Positioning accuracy / Confidence
2 Meters of absolute accuracy with 95% Confidence
(about 1 Meter of relative accuracy): According to
sizes of European vehicles.
Subject
Actual Target
Perceived Target
Perceived Target Subject
Actual Target
False Positive
Warning
Lateral
Error
Lateral
Error
VERIFICATION OF THE LONGITUDINAL ALIGNMENT OF
VEHICLES TAKING INTO ACCOUNT THE VEHICLES’ WIDTH
Data Freshness / Confidence
COM
T0 T1 T2 T3 T4 T5 T6
GPS
PROCESSING
+..
Electronic
Control Unit
Processing
CAN
RAW data
Detected
Data
Elements
Values
Available
CAM / DENM
GENERATION
CAM / DENM Interval
Messages
Transmission
ORIGINATING VEHICLE Latency Time (350 ms)
COM
Third
Party
RECEIVING VEHICLE
Messages
Reception
Time
Stamping
Facilities /
Application
Latency Time (50 ms)
Driving
Assistance
Direct
Control
Time
Stamping
CAM / DENM
RECEPTION RISK ASSESMENT
RESULT
?
Safety Messages Intervals
T1 – T2 Delay: Can be dynamically adjusted
according to safety criticality level
A
B
C
D
E
F
G
H
Time
Proximity
Vector
(measured
at crow flies
Virtual Safety Shield
(Dynamic shaping) SAFETY CRITICALITY
BEING ASSESSED
ACCORDING TO
TIME PROXIMITY
VECTOR e.g.
IF LESS THAN
5 SECONDS:
INTERVALS ADJUSTED
TO 100 ms.
Policy in safety critical situation
CAM & DENM Intervals adjusted according to
considered applications at the receiver level.
Security pseudonyms change inhibited when
being in a safety critical situation.
TTC according to type
of Application Criticality level of
the trafic situation CAM / DENM Interval
Driver Assistance,
Cooperative Awareness 2 Between 200 milliseconds
and 1 second
Driver Assistance,
Driver warning if TTC < X1
e.g. 5 seconds 1 100 milliseconds
Direct action on vehicle
Including pre-crash if TTC
< X2 e.g. 1 second
0 50 milliseconds
Technology Agnosticity
G5 RESPONSABILITY
DAIMLER
RENAULT
VW
…etc
Performances
(Position accuracy,
Latency time)
Dependability
Backend
PER
Failure
Attack
Roaming?
4G
(LTE)
Considering performances in technology agnosticity
LTE CELL
Diameter: 500m to 6km
DAIMLER
RENAULT
VW
…etc
COST FOR UNIVERSAL
SERVICE TYPES?
G5 CHANNEL
MANAGEMENT
Communication Management
General Principle
Communication
Management
G5
Communication
Profile
IPv6 based
Communication
Profile
e.g. 4G
Messages Dispatching
G5 Channels
Management
MIB Applications’ states &
Requirements (Functional, Operational, Economical)
Communication
Management
SAM
Interoperability Issues
Exchange Profile G5S1 Exchange Profile G5S1
AIR
Application
Profile
Application
Profile
Communication
Profiles
Communication
Profiles
Ap
plic
atio
n
Ap
plic
atio
n
CAM /
DENM
in
ASN.1
PER
Bro
ad
cast / G
eo
cast
CAM/
DENM
in
ASN.1
PER
Bro
ad
cast / G
eo
cast
BTP
Geo
net
Geo
net
BTP G5A
(CCH)
G5A
(CCH)
Management / Security Profile Management / Security Profile
Messages Broadcasting
Vehicle
B Vehicle
A
Absolute necessity to define common
exchange profiles (not achieved in standards)
G5 Channels management
Modem 2 Modem 1
Hypothesis:
One radio
Receiver
One radio
Transmitter
per Modem
CCH SCH
1
SCH
2 SCH
3
SCH
4
5.855 5.925
G5A G5B Fix Dynamically
Configurable
Critical Safety +
Signalization (SAM) (CCH)
Traffic Mgnt SCH1, SCH2
Security (SCH1)
Mobility (SCH3, SCH4)
Comfort (SCH3, SCH4)
G5 Channels
Management SAM MIB
List of active
Local applications SAM Channel
Switching
G5 Services advertisement
ISO CD 24102-5: Fast Service Advertisement Protocol
Service Advertisement Message (SAM)
Header Body
FMT ID
(SAM) Version
N°
Station
ID
Services
List
Channels
List
IP
Services
Number of
Non IP
Services ITS-AIDs
Services
Data
Services
Ports
Sessions
Elements
Not applicable for road safety applications
Mainly used for services advertisement from a RSU
G5 Services advertisement
Implementation:
SERVICES LIST CHANNELS LIST
APPLICATION ITS-AID CHANNELS ASSIGNMENT PROPOSAL
Exemple, but not completed
ROAD SAFETY CCH SAM CCH
In-Vehicle SIGNAGE
SECURITY UPDATE SCH1
SCH1 Info Traffic &
Recom. Itinerary SCH1
Intersection Management
(SPAT – TOPO) SCH2
POI for Mobility SCH3
Comfort (Multimedia) SCH4
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Discussion