High Quality of Service Highway (HQoSH) for automated vehicle

Transcription

1 HQoSH - ITS Congress Rosario 1 High Quality of Service Highway (HQoSH) for automated vehicle Jacques Ehrlich Chair of PIARC TC B.1

2 HQoSH - ITS Congress Rosario 2 Introduction: why automation? To improve network efficiency To promote eco-driving To improve safety Social Issues To make driving accessible for all Automation is a comprehensive response to four major societal challenges

3 J3016 SAE Automation levels The different levels of automation

4 Vehicle centric vision vs. systemic vision Until recently OEM and Road Network Operators were two world which have difficulties to communicate. Therefore the trend was to consider that the automated vehicle was only a vehicle affair excluding the role of infrastructure OEM and equipment suppliers Start to understand that to move safely vehicles will need an accurate knowledge of the state of the road on which they are travelling. Automated vehicles are expecting from physical infrastructure that it fulfils some requirement in order to maximize safety. Road Network Operators Need to have accurate and real time knowledge of the state of the infrastructure. Probe vehicle (or FCD ) is a new approach to achieve this goal as complement information provided by patrol vehicles, road surface sensors and road side equipment. HQoSH - ITS Congress Rosario 5

5 How automated vehicles can move safely? A vehicle standpoint HQoSH - ITS Congress Rosario 6 To move safely, key functions must be ensured with a high level of reliability Reliable trajectory control Anticipation of simple or complex situation Key function (non exhaustive list) V2V interaction V2I interaction Lane keeping NO YES Curve overshooting prevention NO YES Distance headway control YES NO Collision avoidance or mitigation YES NO Speed control according to road geometry, road surface, traffic light status, weather condition, legal speed limits etc NO YES Safe autonomous overtaking YES YES Safe autonomous crossroad and roundabout crossing YES YES

6 Infrastructure key features (an infrastructure standpoint) HQoSH - ITS Congress Rosario 7 As the level of automation will increase (level 1 to 5) vehicle dependence to infrastructure is growing The infrastructure must provide an increasing level of quality of service (QOS) Infrastructure Features Role/Impact Variability ov. the time Lane marking Vehicle guidance for lateral control Static readability Road curvature and Vehicle stability, curve overshooting prevention Static cant Road slope Collision avoidance during overtaking manoeuvre. Static Road skid resistance Vehicle stability in straight-right and curve situation Static, temporary Ruts, potholes, Vehicle stability in all situation Temporary ruptures, cracks Geometric visibility Collision avoidance during overtaking manoeuvre Static Traffic light status readability Safe crossroad crossing Dynamic Road sign readability Driving with respect to highway code (e.g. speed limit) Static Weather condition Vehicle stability, vehicle headway, safe overtaking Dynamic

7 HQoSH - ITS Congress Rosario 8 Feature metrics Depending on the automation level, vehicles will expect from infrastructure a given level of QoS (Quality of Service) Example : ruts and potholes impact is negligible on safety at 50 km/h but is critical at 130 km/h QoS must be quantized : need a feature metric 1 st approach (today) : crash data base analysis correlation between accident and key features presence or absence 2 nd approach (open research) : probabilistic approach aiming at estimating a crash probability given some feature values and conversely to set the threshold for a given safety level. Refer to study on curvatures failures. Up to now : automated vehicle crash database does not exit : necessity to combine real-world database and physics-based simulation Depending on the QoS level vehicle will decide to move into an automated (level 1 to n) mode or into a manual mode (level 0). A. Koita, D. Daucher and M. Fogli, New Probabilistic Approach to Estimate Vehicle Failure Trajectories in Curve Driving, Probabilistic Engineering Mechanics, 34 (2013)

8 Secured itinerary, digital and physical architecture Secured itinerary (or HQoSH) A road (or physical infrastructure) of which features values are enclosed within some limits such as automated vehicle can move on it safely Represented on board the vehicle by the digital infrastructure Digital infrastructure : a numeric representation of the physical infrastructure On-road sensors Modeled by the Local Dynamic Map (LDM) Must be continuously updated such as to reflect the physical infrastructure status Supplied with data from road side equipment and other automated vehicle acting as probe vehicles (FCD) In-vehicle sensors Road Side Unit I2V COM Ego vehicle Un LDM V2V COM Other vehicles (FCD) Physical infrastructure HQoSH - ITS Congress Rosario 9

9 Local Dynamic Map A database which contains topographical, positional and status information Within a geographic area surrounding the ego vehicle A hierarchical database with four levels permanent static data usually provided by a map data supplier, transient static data, obtained during operation, e.g. changed static speed limits, transient dynamic data, e.g. weather situation, traffic information, dynamic speed limits, highly dynamic data (neighbor vehicles status) september 2016 The four levels of the LDM F2016-ACVB

10 HQoSH - ITS Congress Rosario 12 Driving safely : a simple scenario Step1 Step2 Step3 Step 4 A vehicle is arriving at the beginning of a secured itinerary (HQoSH). It receives information which describes the level of service provided by the infrastructure at this place. Then, the vehicle decides the level of automation it can support and notifies the driver. The driver accepts or rejects the proposed level In the next steps, we assume he has accepted.

11 HQoSH - ITS Congress Rosario 13 Driving safely : a simple scenario (cont d) Step5 Step5 Step7 In normal condition, the selected automated mode will be kept until the end of the safe itinerary. In abnormal condition (e.g. bad skid resistance condition) the vehicle receives the relevant information and evaluates if the new (lower) level of service complies with the current level of automation. If not, it asks the driver to switch back to the manual mode or to select a lower automation mode which complies with the current level of service. If the driver don t take control the vehicle execute a minimum risk manoeuvre Finally, the vehicle reaches the end of the HQoSH and the driver is required to switch back to the manual mode...

12 HQoSH - ITS Congress Rosario 14 Discussion (cont d): legal and technical aspects Privacy Acceptance of a world surrounded by thousands of sensors (big brother trauma)? Protection of private data against hacker attacks Data ownership? What compensation will I receive for providing my data? Security System resilience against malicious attacks? Responsibility In case of accident, how to determine responsibility in a system where the automaker is not the only actor? Is the black box the right answer? Standardization Etc. Need for a community around data standardization for quality of service evaluation regrouping OEM, Road Network Operators and data analysts in order to build a common norm.

13 HQoSH - ITS Congress Rosario 15 The Automated Road: a global solution Automated Road is part of the Forever Open Road European project (FOR) and its French Version Road of Fifth Generation (R5G) establishing the next generation of road Automated, Adaptable, Resilient The Automated Road Brings mutual expectation Satisfy road user demand (vehicle expectation) Satisfy highway authority needs (infrastructure expectation) Caminos de 5ta generation. Los Caminos de Futuro, una iniciativa IFSTTAR Bernard Jacob, Jueves 27, 13:30-13:15 Auditorio

14 Conclusion The concept of Safe Itinerary or High Quality of Service Highway was introduced The goal is to provide the autonomous vehicles with a Physical Infrastructure which maximize the safety This infrastructure is characterized by a set of features and events which can influence autonomous vehicle reliability The Local Dynamic Map is an embedded database which models the digital infrastructure thanks to information coming from the ego vehicle and its environment Other vehicles, road surface sensors, road side units, and traffic management centers This evolution is encompassed by a more global concept which is a comprehensive answer to high level societal issues: The For Ever Open Road project and its French version Route 5e Génération HQoSH - ITS Congress Rosario 17

15 Thank you for your attention Ifsttar/CosSys/LIVIC 25 allée des Marronniers Versailles - FRANCE HQoSH - ITS Congress Rosario 18