i-game COOPERATIVE AUTOMATED MANEUVERING OF ROAD VEHICLES

Transcription

1 i-game COOPERATIVE AUTOMATED MANEUVERING OF ROAD VEHICLES Jeroen Ploeg TNO, The Netherlands Final Event AstaZero, Sandhult, Sweden

2 i-game Interoperable GCDC AutoMation Experience EU-funded FP7 project, i-game objective: To speed-up real-life implementation and interoperability of cooperative automated driving By both development and demonstration (the GCDC 2016) Key development: interaction protocols Create and grow expert community Real life merging Defined merging scenario Interaction protocol 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 2

3 Grand Cooperative Driving Challenge GCDC 2011: Platooning GCDC 2016: We need to go beyond platooning to properly handle complex traffic scenarios Cut-in, cut-though, merging, splitting, intersection crossing, lane reduction, GCDC 2011 GCDC /10/2016 Final Workshop /AstaZero, Sandhult, Sweden 3

4 Two i-game scenarios Merging on highway ( zipping ) Challenge: To negotiate and perform the merge before the lane is closed Cooperative intersection Challenge: to optimize passage (no stopping, safe) of oncoming vehicle to a T-intersection SAE automation level 1 required 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 4

5 Cooperative automated maneuvering scenario maneuvers lane reduction gap making merging platooning CACC agents obstacle avoiding lane changing vehicle/lane following Sequencing of maneuvers through interaction protocol 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 5

6 Merging scenario control Basically two longitudinal controllers Vehicle following: CACC (Cooperative Adaptive Cruise Control) Control objective: distance dd dd rr with dd rr = rr + hvv Follow the directly preceding vehicle Obstacle-avoidance control Control objective: distance dd dd ssssssss Gap making for the merging vehicle Lateral controller to perform the lane change 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 6

7 Intersection scenario control Transform intersection problem into a virtual platooning problem, avoiding collisions by assigning the correct vehicle order in the virtual platoon Any properly designed (stringstable) CACC will do the job CACC is based on GPS positions only, requiring an accurate GPS receiver 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 7

8 Wireless communications Based on ITS-G5 protocol stack Message sets Decentralized Environmental Notification Message (DENM) Only used by roadside units to transmit start of scenario Cooperative Awareness Message (CAM) Broadcasted (V2V) at 25 Hz update rate (increased from max. 10 Hz to accommodate safety-critical maneuvering) i-game Cooperative Lane-Change Message (iclcm) i-game specific message set Broadcasted (V2V) at 25 Hz update rate iclcm contains messages for scenario execution, but also generic information not included in CAM 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 8

9 GCDC 2016 participating teams Halmstad, Halmstad University, Halmstad, Sweden AnnieWAY, Karlsruhe Institute of Technology, Karlsruhe, Germany KTH Truck, KTH Royal Institute of Technology, Stockholm, Sweden Chalmers Car, Chalmers University of Technology, Gothenburg, Sweden Chalmers Truck, Chalmers University of Technology, Gothenburg, Sweden A-Team, Eindhoven University of Technology / Fontys University of Applied Sciences, Eindhoven, The Netherlands Heudiasyc, Université de Technologie de Compiègne, Compiègne, France Drivertive, University of Alcalá, Alcalá de Henares, Spain KTH Experimental Car, KTH Royal Institute of Technology, Stockholm, Sweden Latvia, University of Latvia, Riga, Latvia 2 benchmark vehicles from i-game project partners 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 9

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11 Observations Special Issue of the IEEE Transactions on Intelligent Transportation Systems Automated maneuvering requires cooperation, but cooperation introduces inter-dependency Interaction protocols should be designed for robustness against failing cooperation partners Localization still is a main challenge (even though the accuracy requirements are not that high) GPS is expensive and not always available (or reliable) SLAM techniques do not have a common coordinate frame Cooperative localization techniques may not be robust A common automation framework is lacking still ad-hoc solutions for each scenario Creating a (university) community focusing on development and execution of cooperative scenarios may significantly speed up developments in this field. 27/10/2016 Final Workshop /AstaZero, Sandhult, Sweden 11

12 THANK YOU! ANY QUESTIONS? Jeroen Ploeg Sr. Scientist TNO, The Netherlands This project has received funding from the European Union s Seventh Framework Programme for research, technological development and demonstration under grant agreement no