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 CarsWhat 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 DATABASETo 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

Landmarks for referencing

TreeTree

Map fromprovider

+Layer 2

Mapping

• EMAP: enhanced map with accurate description of road geometry

• Map Update: connection to a map server

Landmarks for referencing

TreeTree

Temporaryregional info !

AccidentAccident

FogFog

CongestionCongestion

Map fromprovider

+Layer 3

Landmarks for referencing

TreeTree

Com. nodes,fusion result

Temporaryregional info !

AccidentAccident

FogFog

CongestionCongestion

EgoVehicle

EgoVehicle

Road side unit

Road side unit

VehiclesVehiclesLocal Dynamic Map: Objects logically organized in layers with respect to their dynamics

Map fromprovider

LOCAL DYNAMIC MAP

+ final dynamic layer 4

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

Safety application Horizontal position accuracy (95%)

Update Rate(Hz)

V2I or V2V

Road level 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

Lane-levelAbsolute

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

Lane-levelRelative

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

General approach Hybrid/multi-sensor Hybrid/multi-sensor Hybrid/multi-sensor GNSS component GPS (L1),

EGNOS/Galileo GPS (L1) EGNOS L1/L2 GPS receiver,

EGNOS Onboard sensors Odometer

Gyroscope Differential Odometer

(all from CAB Bus)

Laser Scanner IMU

V2V communication for relative GNSS

IXSEA LandINS navigation system,

Crossbow VG700 or IMU400

Front Camera Infrastructure IT-transmitter UWB communications Wireless sensors, map

matching etc

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