24th Annual ITS World Congress 2017 TS72 : Traffic Management Case Studies 01 November 2017 DEVELOPMENT OF INFRASTRUCTURE-BASED AUTONOMOUS DRIVING SUPPORT SYSTEM USING DYNAMIC MAPS Yoshiaki Tsuda +), Keisuke Hirose +), Takafumi Yokoe +), Yoshiaki Adachi +) Toshio Ogiso ++) and Kouji Makino ++) +) Mitsubishi Electric Corporation ++) National Institute for Land and Infrastructure Management
1. Introduction l Concept of Infrastructure-based Autonomous Driving Support System called Cooperative ITS in JAPAN Bifurcation into an IC (NEXT Challenge) Stop control by the system Stop the system Smooth driving in a congestion area Safe and smooth driving on merging or bifurcation lanes 2) Foreseeing information Bifurcation: not supported (NEXT Challenge) Start control by the system Start the system 2) Foreseeing information 1) Merging support information Technical note of National Institute for Land Infrastructure Management No.819 January 2015, Report for the joint research on the next generation Cooperative ITS 1
1. Introduction l1) Concept Merging of support Infrastructure-based information Autonomous Driving Provides Support main System lane called information Cooperative to merging ITS lane in JAPAN vehicles for merging drive support 2) Foreseeing(Pre-notification) information Provides road information for traveling vehicles Bifurcation into an IC (NEXT Challenge) Stop control by the system Stop the system Smooth driving in a congestion area Safe and smooth driving on merging or bifurcation lanes 2) Foreseeing information Bifurcation: not supported (NEXT Challenge) Start control by the system Start the system 2) Foreseeing information 1) Merging support information TECHNICAL NOTE of National Institute for Land Infrastructure Management No.819 January 2015, Report for the joint research on the next generation Cooperative ITS 2
1. Introduction Our proposed system (1)Dynamic Map (2)Quasi-Zenith Satellites(QZS) (3)Road Side System(ETC2.0 & others(ieee802.11p)) are effective solution for Cooperative ITS (1) Dynamic Map (2) QZS (3) Road Side System 3
1. Introduction l What is Dynamic Map? Location reference method Dynamic information :nearby vehicles, pedestrians, signal information, etc. Semi-dynamic information :accident information, traffic congestion information, short range weather information, etc. Semi-static information :traffic restriction information, road construction information, long range weather information, etc. Static information :road surface information, lane information, etc. < Data model for dynamic map > Static high-accuracy 3D map data Source : http://www.sip-adus.jp/wp/wp-content/uploads/3-05_its_forum11_report_20170214.pdf 4
1. Introduction l What is QZS? Ø GPS Complementary : enhance positioning signal availability Ø Positioning Augmentation : provide cm level high precision 3D positioning * Global Navigation Satellite Systems autonomous vehicles ** Continuously Operating Reference Stations CLAS:Centimeter Level Augmentation Service 5
1. Introduction l What is Road Side System? Information Center Accident occurred. Attention!! ETC2.0 Antenna Positional information + Dynamic map + Traffic information (congestion,restriction) Accident occurred. Stop autonomous driving!! IEEE 802.11p Antenna High precision positional information (CLAS) Collision accident Monitor camera QZS receiver (CLAS) QZS receiver (CLAS) 6
2. Use cases of the proposed system 1) Merging support information Provides main lane information to merging lane vehicles for merging drive support Today 2) Foreseeing(Pre-notification) information provides road information for traveling vehicles ex. traffic accidents, lane restriction, speed restriction, traffic congestion information 7
3. Overview of the experiment l Test course of National Institute for Land and Infrastructure Management @ Tsukuba,Japan Non-autonomous vehicle Autonomous vehicle Aerial photograph circumference 6km 8
3. Overview of the experiment l Protocol stack & System of experiment Information Center * Established on May 25, 2017 * * Road Side Unit ARIB STD-T110 (ISO29281-1) :Push-type information delivery AP ITS FORUM RC-014 Ver. 1.0 * IEEE1609.3 IEEE1609.4 IEEE802.11p-2012 Infrastructure side(rsu) Air link Autonomous driving control ARIB STD-T110 (ISO29281-1) :Push-type information delivery AP ITS FORUM RC-014 Ver. 1.0 * IEEE1609.3 IEEE1609.4 IEEE802.11p-2012 in vehicle side(obu) Positional information-a RSU-A** with QZS receiver < Main lane > Vehicle-A QZS Information Center Positional information-a + Dynamic map + Traffic information (congestion, restriction) RSU-B** with QZS receiver < Merging lane > Vehicle-B (autonomous) 9
3. Overview of the experiment l Specification of experiment Ø IEEE 802.11p based protocol with directional antenna Road Side Unit (RSU) On Board Unit (OBU) Frequency OBU RSU:5,780 MHz RSU OBU:5,820 MHz TX Power 20 dbm Antenna Gain 12 dbi 0 dbi (Circular polarization) 4 dbi (Linear polarization) 10
4. Result of the experiment Received power (dbm) l Communication coverage -35-45 -55-55 -65-65 -75-75 -85-85 Ø The system is capable of providing information to vehicles positioned within a distance of 120 m from RSU. Received Power Packet Error Rate Information data :Positional information-obu + Dynamic map + Traffic information (congestion,restriction) Coverage 120 m 100 1 10 0.1 1 0.01 Packet Error Rate (%) -95-95 250.0 250 225 225.0 200.0 200 175.0 175 150.0 150 125.0 125 100.0 100 75.0 75 50.0 50 25.0 25 0.0 0-25 -25.0-50 Vehicle traveling direction (m) 0.1 0.001-50.0 11
4. Result of the experiment l Video of Merging support information experiment 12
5. Conclusion Summary We conducted an experimental study for an autonomous driving support system We confirmed that our proposed system can provide the effective information for autonomous driving from the study Dynamic Map QZS Road Side System Cooperative ITS Smooth driving in a congestion area Safe and smooth driving on merging or bifurcation lanes 13
5. Conclusion Future works A real-time update of Dynamic Map by vehicle probe data An application of the Cooperative ITS to urban streets 14
[ Floor Map ] Mitsubishi Electric Corporation Booth# 1103 16