SIP（Strategic Innovation Promotion Program）

Research and Development of Automated Driving Systems

Development of V2V, V2I Communication Technology Toward the Automated Driving Systems

DENSO CORPORATIONPanasonic Corporation

PIONEER CORPORATIONThe University of Electro-Communications

2015/03/06

Vehicle–to–Infrastructure (V2I) Communication(700MHz) Vehicle–to–Vehicle (V2V) Communication(700MHz)

Source: ITS WC home pageSafety driving support at intersection

Safe and Smooth Intersection Passing Assist

Low-latency communicationHighly -reliable communication

Blind intersectionCollision avoidance

Toward the Automated-Driving Systems

Automated Driving for Commercial Vehicle Cooperative Automated Driving

Enhanced and Sophisticated

Images of Automated Driving Systems

Images of Automated Driving Systems

Front car driver maneuvers a car Following car driver monitors a car

Images of Automated Driving Systems

Images of Automated Driving Systems

Using the predictive information on ＩＴＳ, Automated Driving Systems shall be realized and expedited.

（From the Cabinet Office )

Automated Driving Systems is the most practical technology toward the advanced safety road society.Cooperative Automated Driving Systems need the sophisticated and enhanced V2V, V2I communication technology.

This project supports the establishment of this technology.

Vehicle to Infrastructure communication

Vehicle to vehicle communication

Background and Aims of the Research and Development

Target

Under the real situation, V2V, V2I communication is achieved

to the practical level for the automated driving systems.

R&D theme

＜Contractors＞

Implementation system

Theme 1. Development of V2V, V2I communication technology needed for automated driving systems

Research Theme and Targeta) The study of communication in the cooperative system (V2V, V2I)

＞Communication performance at the heavy traffic jam is evaluated in the specific area.（Evaluated by the real measurement and the simulation）

b) The study of service in the cooperative system (V2V, V2I)＞Service function is evaluated in the information overlapped and confliction.

c) The study of promotion and penetration＞Function feature is evaluated by the low price common devices, and

effects and values are verified by the emergency motor vehicle.

d) The study of communication in the automated driving system ＞Decentralized coordination technology shows the high reliable and low latency.

■ Committee Meeting of R&D

■ Business Producers

R & D theme and the implementation system

DENSO CORPORATIONPanasonic CorporationPIONEER CORPORATIONThe University of Electro-Communications

Image of V2V communication at the blind corner

評価車両1

評価車両2

路側機

高負荷車両

Communication performance at the heavy traffic

jam is evaluated in the specific area.

Experimental Site : NAGOYA city, YOKOSUKA city

a) The study of communication in the cooperative system (V2V, V2I)

Measuring car 1

Measuring car 2

Roadside Unit

Many staying vehicles

b) The study of service in the cooperative system (V2V, V2I)

Service function is evaluated in the information

overlapped and confliction

Experimental Site : NAGOYA city, KOBE city

Driver Assist Situation

・Right turn incident prevention assist

・Collision accident prevention assist

High PriceCar Navigation System

Common device (PND etc.)

ＧＰＳ＋Vehicle speed+ sensors

Only ＧＰＳ

Measu

re

ＴＴＣ（Time to Collision)

Right ＴＴＣMeasurement error

ＴＴＣ includes the position error

C-1) Function feature is evaluated by the low price common devices

The influence of the difference of the position accuracy is evaluated through V2V communication .

The Emergency Motor Vehicle is prioritized

Ambulance vehicle with wireless unitFixed Camera

Simulation

目的地

To Hospital

To Client

Experimental Site :NAGOYA city, YOKOSUKA city

C-2) The study of promotion and penetration

Assistance for emergency vehicle traveling

Shorten the time to the destination of the emergencyVehicle is very controversial problem.

increase

Time to destination

destinationstart

Repeater α

Adaptive frequency selection based on surrounding recognition

Building

STBC based multi-hop reliable V2V communication

Repeater β

Autonomous distributed communication with repeater

Survey of the multiple cooperative distributed

network technology, basic performance of STBC basis

communication and measurement of the surrounding

radio environment.

Simulation result

Low latency and reliable communication using the new code

d) The study of communication in the automated driving system

Field Operational Test AreaNAGOYA-city YOKOSUKA-city

KOBE-city

Field Operation Test

One Road-side unit is put in place for NAGOYA and YOKOSUKA.

Six Road-side units are put in placefor KOBE by NPA- project.

（Collaboration with MLIT- project and NPA- project ）

Outline of NAGOYA FOT

ExperimenterDENSO / 99 carsPanasonic /6 cars

Date2015/02/09 -- 02/20

Joint Project with MLIT and NPA project

Experiment Area :NAGOYA-city, KITA-ward, SHIROMI-street-2, Intersection

EXPERIMENT VEHICLE

Pseudo-ambulance car

Rent-car w/ hired driver

Measurement car

Customer car / Commercial car

Rent car (DENSO)

Rent car (Panasonic)

１

１５

２

Subtotal １８

３４

１０

５

８１

WIRELESS

UNIT

Total

１

１５

２

１８

９９

３４

５０

２５

１４１

１５９

Real ambulance car ３２ ３２

NAGOYA-city, KITA-ward, SHIROMI-street 2, Intersection

A

B C

B

2 measurement car

・Verification of the communicable area

・Influence Check of the shadowing

・Influence Check of the communicating traffic increase

Subtotal

Experiment Purpose

Experiment Scale

・1 Road-side wireless unit

・100 cars with wireless unit

▲Start

移動50m

高負荷用車両（停車）

停車

約400m

A

Outline of YOKOSUKA FOT

EXPERIMENT VEHICLE

Pseudo-ambulance car

Measurement car

Rent car (DENSO)

Rent car (Panasonic)

１

２

１０

５

WIRELESS

UNIT

１

２

５０

２５

Total

Real ambulance car 1 1

１９ ７９

ExperimenterDENSO / 19 carsPioneer / 3 cars

Date2015/02/23 -- 02/25

Joint Project with MLIT and NPA project

YOKOSUKA-city, OOTSU-ward, Intersection

Experiment Area :YOKOSUKA-city, OOTSU-ward, Intersection

・Verification of the communicating performance

at the high traffic jam.

・Data collection of the ambulance vehicle

Experiment Purpose

Experiment Scale

・1 Road-side wireless unit

・70 cars with wireless unit

Outline of KOBE FOT

①

②

③④

⑤

⑥

Ａ

Ｂ

ExperimenterDENSO / 10 carsPanasonic /10 cars

Date2015/02/23 -- 02/27

Joint Project with NPA project

EXPERIMENT VEHICLE

Pseudo-ambulance car

Measurement car

Rent car (DENSO)

(１)

1

６

WIRELESS

UNIT

(１)

1

６

Total

Real ambulance car 3 3

１０ １０

Experiment Scale

・６ Road-side wireless units

・１０ cars with wireless unit

Experiment Area :KOBE-city, CHUO-ward, HAT-Intersection

Experiment Purpose:

Verification of the communicable area (V2I)

Summary

■For next year

※ New theme is added toward the automated driving system

・Indispensable date is collected by the CACC based testing for pull into/out traffic.

■This year’s result

・ As for the verification of the requested communication condition, real measurement data is

collected and simulation shows the data in various penetration rates.

・As for the service confliction in the case of having the same kind information, the data is

collected in the test course using the specific sinario.

・As for the effect of V2V application to the ambulance vehicle, the basic data is collected.

・As for the problem of the commercial wireless unit, the influence of the difference of the

position accuracy is evaluated through V2V communication .

・As for the dedicated communication protocol for the automated driving system,

the direction of the study is classified.