Introduction to V2X technologies

Transcription

1 Introduction to V2X technologies László Bokor Ph.D. BME Department of Networked Systems and Services (HIT) BME Department of Networked Systems and Services (HIT) 1

2 Commsignia BME HIT V2X Communication Research Group BME Department of Networked Systems and Services (HIT) 2

3 Our Research group in a Nutshell Department of Networked Systems and Services comprehensive analysis and design of wired and wireless communication networks novel network architectures and protocols mobile communication systems and services multimedia networks, media distributor systems network security solutions and cryptography Research activities in the field of ITS since 2006 FP6-IST ANEMONE: Advanced Next generation Mobile Open Network ( ) A CVIS (Cooperative Vehicle-Infrastructure Systems) EUREKA-Celtic BOSS: On Board Wireless Secured Video Surveillance ( ) Close cooperation with the founders of Commsignia Inc. Since 2007: started with ANEMONE (CVIS) and BOSS project Ongoing R&D activities, joint projects and publications Spring of 2016: formal establishment of Commsignia BME HIT V2X Communication Research Group BME Department of Networked Systems and Services (HIT) 3

4 R&D and education activities R&D topics - Advanced communication architectures, protocols and algorithms - Crowdsensing technologies - Novel communication solutions for autonomous vehicles - Data-intensive V2X applications and services Education activities - Practical oriented education - Strong cooperation with the leader industrial partners of the ITS field - Invole students into international R&D projects - BSc and MSc thesis topics, internship program, themitic laboratory, project laboratory BME Department of Networked Systems and Services (HIT) 4

5 History of car tech and safety features BME Department of Networked Systems and Services (HIT) 5

6 Quick look on car tech evolution 1/2 Model T (1908) Electric starter (1911) Cigarette lighter (1925) Four-wheel breaks (1929) Car radio (1930) Coil spring suspension (1934) First flying car (1949) Power steering (1956) 8-track tape player (1965) 3-speed aut. Transmission (1969) Cassette decks (1970) Catalytic converter (1973) Electronic fuel injection (1982) Air bags (1984) In-dash disc players (1985) BME Department of Networked Systems and Services (HIT) 6

7 Quick look on car tech evolution 2/2 On-board diagnostics (1994) Navigation systems (1995) Hybrid cars (2000) Connected and smart cars (2000-) Self-driving cars BME Department of Networked Systems and Services (HIT) 7

8 Quick look on car safety features evolution Electric headlamp (1898) Manual windscreen wiperselectric windscreen wipers (1903) (1926) Safety glass (1930) First crash test dummy (1949) Airbags (1951) Crumple zone (1952) Anti-lock breaking systems (ABS) (1958) 3 point seatbelts (1959) Traction control (1987) Break assist (1996) First blind spot detection (1998) Stanley team won DARPA Grand Challenge (2005) Pedestrian detection (2010) The road ahead (V2X, self driving cars) BME Department of Networked Systems and Services (HIT) 8

9 The road ahead (V2X, self driving cars, ) BME Department of Networked Systems and Services (HIT) 9

10 The motivation behind the ITS/C-ITS technologies BME Department of Networked Systems and Services (HIT) 10

11 Motivation Road safety 1/3 Serious problem everywhere Road accidents are leading cause of deaths WHO estimated number of road traffic deaths 2010 data: million people worldwide USA: 35,490 China: 275,983 EU: 44,696 Australia: 1,363 India: 231,027 Hungary: 908 Italy: 4,371 Germany: 3, million people suffer non-fatal injuries Economic loss due to road traffic injuries 2005 data: 167,752.4 million US Dollars BME Department of Networked Systems and Services (HIT) 11

12 Motivation Road safety 2/3 WHO Decade of Safety Program xxx BME Department of Networked Systems and Services (HIT) 12

13 Motivation Road safety 3/3 ZERO VISION zero accidents ITS EUROPE (The ERTICO Partnership) safer mobility zero accidents smarter mobility zero delays and fully informed people cleaner mobility reduced impact on the environment ITS America Zero Fatalities Cars That Avoid Crashes: Driving Toward Zero Fatalities with Connected Vehicle Technology ITS Australia Three Pillars - Safety, Mobility and the Environment zero harm to users of the transport network zero avoidable congestion a significant (50-70%) reduction in transport greenhouse gas emissions based on 2010 levels Sweden The Vision Zero Any loss of life in traffic is unacceptable BME Department of Networked Systems and Services (HIT) 13

14 Motivation Traffic efficiency Avoidable traffic congestion costs of wasted time and fuel due to congestion Australia: $9.4 billion in 2005 US: about $124 billion annually, about $1,700 per household $2.8 trillion US Dollars by 2030 UK + Germany + France: $ 49,754 million 42% forecasted change till 2030 Congestion in action. Image: Flickr/Wendell, CC BY-ND. BME Department of Networked Systems and Services (HIT) 14

15 Motivation Reduce emission Emission Congestion amplifies fuel consumption consumption during traffic congestion situations is about twice that of freeflow situations International Road Transport Union: traffic congestion increases CO2 emissions by 300% Reduce emission: Congestion mitigation Speed management Traffic smoothing All three strategies combined could reduce emissions by ~30% BME Department of Networked Systems and Services (HIT) 15

16 Introduction to ITS/C-ITS BME Department of Networked Systems and Services (HIT) 16

17 Intelligent Transport Systems ITS: Intelligent Transport Systems embrace a wide variety of communications-related applications intended to increase travel safety, minimize environmental impact, improve traffic management Variable speed limit sign Emergency vehicle notification Automatic road enforcement Dynamic traffic light sequence etc. BME Department of Networked Systems and Services (HIT) 17

18 Cooperative Intelligent Transport Systems C-ITS: Road operators, infrastructure, vehicles, their drivers and other road users will cooperate to deliver the most efficient, safe, secure and comfortable journey. The vehicle-vehicle and vehicleinfrastructure co-operative systems will contribute to these objectives beyond the improvements achievable with stand-alone systems. C-ITS synonyms: Car-to-X (C2X, C2C) Vehicle-to-X (V2X, V2V) More than just Connected Car Connected Car : uplink to the Internet No direct and ad-hoc networking No direct vehicle-to-vehicle communication BME Department of Networked Systems and Services (HIT) 18

19 ITS vs. C-ITS ITS: Network: centralized or even not communicating Source of information: managed by a central entity (TMC) Dissemination: slow (due to the centralized approach) Direction: unidirectional Direction: infrastructure to vehicle only (limited data collection by infrastructure) C-ITS: Network: direct, point-topoint, ad-hoc Source of information: distributed (but could be managed by TMC-as well) Dissemination: fast (distributed, direct) Direction: bidirectional Direction: V2V, V2I, I2V and supporting acknowledgement and feedback options BME Department of Networked Systems and Services (HIT) 19

20 C-ITS communication patterns V2V I2V V2I Vehicle-to-vehicle Infrastructure-tovehicle Vehicle-to- Infrastructure to the RSU / TMC or to the Internet BME Department of Networked Systems and Services (HIT) 20

21 ITS/C-ITS SDOs and organizations BME Department of Networked Systems and Services (HIT) 21

22 SDOs and Organizations ISO/TC204: ITS (1992) IEEE p IEEE P1609 New TC started IP WAVE CEN/TC278: RTTT (1992) J2735 J2945 ETSI TC ITS ETSI smartm2m (2007, 2016) 3GPP C2C-CC (2002) Connected Vehicle Test Beds (USDOT) (2005) 5G Automotive Association (5GAA) (2016) onem2m (2016) European Automotive Telecom Alliance (EATA) (2016) BME Department of Networked Systems and Services (HIT) 22

23 C-ITS applications BME Department of Networked Systems and Services (HIT) 23

24 C-ITS Application templates V2X use-cases and applications Vehicle Vehicle Vehicle Infrastructure Nonfunction al safety V2V Safety Function al safety V2V non-safety V2I/I2V Safety V2I/I2V non-safety BME Department of Networked Systems and Services (HIT) 24

25 Emergency Electronic Brake Light Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 25

26 Blind Spot Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 26

27 Lane Change Assist Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 27

28 Stationary Vehicle Warning Slow Vehicle Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 28

29 Traffic Jam Ahead Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 29

30 Adverse Weather Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 30

31 Emergency Vehicle Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 31

32 Left Turn Assist Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 32

33 Do Not Pass Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 33

34 Intersection Movement Assist Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 34

35 Wrong Way Driving Curve Speed Warning Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 35

36 Cooperative Adaptive Cruise Control Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 36

37 Road Works Warning / Hazardous Location Warning / Human Presence on the Road Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 37

38 In Vehicle Information Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 38

39 Green Light Optimized Speed Advise / Time to Green / Red Light Violation Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 39

40 Signal Priority Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 40

41 Tolling Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 41

42 Vehicle Probing Figure: CAR 2 CAR Communication Consortium BME Department of Networked Systems and Services (HIT) 42

43 C-ITS architecture BME Department of Networked Systems and Services (HIT) 43

44 Architecture overview Flexible Open platform Abstract Cross-layer optimized Future proof BME Department of Networked Systems and Services (HIT) 44

45 Main components BME Department of Networked Systems and Services (HIT) 45

46 C-ITS Facilities Layer BME Department of Networked Systems and Services (HIT) 46

47 Common and domain facilities The facilities layer is a middleware composed of multiple facilities. A facility is a component that provides functions, information or services to ITS applications. Common facilities: provide core services to support the reliable operation of stations and the interoperability of the basic set of applications (BSA) common for all ITS stations and all BSA applications E.g., time and positioning services Domain facilities: provide services / functions for one or more specific BSA applications common for one or more applications one domain facility may become optional or not used for other applications E.g., specific event driven services for cooperative road hazard warning applications BME Department of Networked Systems and Services (HIT) 47

48 Facilities standards overview Cooperative Awareness Message (CAM) Decentralized Environmental Notification Message (DENM) Intersection Geometry (MAP) Intersection State (SPaT) In Vehicle Information (IVI) Local Dynamic Map (LDM) Probe-vehicle Data (PVD) Road Tolling Messages Service Advertisement Protocol CAM DENM SPaT MAP Standard ETSI EN V1.3.2 ( ) ETSI EN V1.2.2 ( ) SAE J2735 SAE J2735 IVI ETSI TS LDM ETSI EN V1.0.0 ( ) PVD PVD SAE J2735 BME Department of Networked Systems and Services (HIT) 48

49 C-ITS Network and Transport Layer BME Department of Networked Systems and Services (HIT) 49

50 ITS Managemet ITS Security Network and transport layers ITS applications require advanced, secure and reliable communication solutions and data transmission mechanisms among ITS entities with strict QoS parameters ITS Applications ITS Facilities ITS Network & Transport Heterogeneous, overlapping wireless accesses are able to ensure the requirements of ITS use-cases in terms of network resources ITS Access Technologies V2X communication schemes are supported by several protocols of the network and transport layer Due to the wide diversity of applications various networking technologies are envisioned in the reference ITS architecture Communication heterogeneity covers various ITS-specific (e.g., BTP, GeoNetworking) and general protocols (e.g., TCP, UDP, IPv6) in network and transport layer BME Department of Networked Systems and Services (HIT) 50

51 Geonetworking overview Provides ad hoc networking based on geographical addressing geographical routing between ITS entities GeoNetworking can be executed over various ITS access technologies (e.g., shortrange wireless technologies, p, infrared, etc.) Supports several addressing (e.g., unicast, multicast, broadcast) and forwarding mechanisms (e.g., single hop/multi hop) extended with position information Utilizes advanced traffic control mechanisms such as distributed congestion control, transmit power control and transmit interval control to increase the reliability and efficiency of data transmission between ITS stations Supports modern cryptographic protection, authentication, authorization and integrity mechanisms for secure communication BME Department of Networked Systems and Services (HIT) 51

52 Geonetworking delivery schemes 1/2 Single-hop broadcast mechanism delivers packets from the source node to all nodes within one-hop distance Topologically-scoped broadcast enables the transmission of packets from the source node to all nodes within n-hop neighborhood BME Department of Networked Systems and Services (HIT) 52

53 Geonetworking delivery schemes 2/2 GeoUnicast transmits packets from the source node to one specific node using geographic routing Geographically-scoped anycast/broadcast allows packet transmission for the source node to a specific/all nodes within a given geographic area BME Department of Networked Systems and Services (HIT) 53

54 C-ITS Access Layer BME Department of Networked Systems and Services (HIT) 54

55 Access layer overview Physical layer and data link layer in the protocol stack enables V2X communication in an ad hoc networking environment Currently the 5.9 GHz frequency band has been allocated for V2X communication in Europe and U.S. Several technologies have been applied for the ITS access layer such as p, WLAN, BT, Cellular networks, Ethernet, etc. BME Department of Networked Systems and Services (HIT) 55

56 Requirements Various environments with different requirements and conditions Highway scenario The relative speed of vehicles can be high ( km/h) which implies the rapid change of network topology High density of vehicles (especially during rush hours) Urban scenario Slower changes of the network topology Radio signal is obstructed by buildings and other blockage Suddenly disappearing and appearing/reappearing objects High density of vehicles in large cities as well BME Department of Networked Systems and Services (HIT) 56

57 ITS G p uses frequency ranges depicted by the following table for safety related and non-safety ITS applications in Europe Frequency range [MHz] ITS-G5D 5905 to 5925 ITS-G5A 5875 to 5905 ITS-G5B 5855 to 5875 Usage Future ITS applications ITS road safety related applications ITS non-safety applications Harmonized standard ETSI EN ETSI EN ETSI EN ITS-G5C 5470 to 5725 RLAN (BRAN, WLAN) ETSI EN BME Department of Networked Systems and Services (HIT) 57

58 Cross layer optimization in ITS G5 Decentralized Congestion Control Reduce the number of packets in the air Especially in crowded situations, e.g traffic jams Decentralized = cross-layer Reduce the transmission power Reduce the repetition rate Mitigation Avoid interference with legacy DSRC tolling systems Reduce the transmission power near tolling gates Find tolling gates Using V2X message broadcasting Fixed database, pre-installed on the device BME Department of Networked Systems and Services (HIT) 58

59 Ad hoc vs. Centralized Fight between Deployment models Operator approaches Business models Cellular V2X ProSe: proximity service LTE-V2X 5G SDN NFV Mobile Edge Computing BME Department of Networked Systems and Services (HIT) 59

60 5G on the horizon Unified communication platform Standardized in 3GPP R14 Based on the already existing LTE solutions like Telematica ecall Infotainment LTE Direct extension to support V2X communication Uses the current LTE infrastucture pl. efficient broadcast mechanism with LTE Broadcast in coverage és out of coverage method BME Department of Networked Systems and Services (HIT) 60

61 Heterogeneous C-ITS infrastructure BME Department of Networked Systems and Services (HIT) 61

62 Multi-access V2X/IoT service Infrastructure layers BME Department of Networked Systems and Services (HIT) 62

63 V2X multimedia BME Department of Networked Systems and Services (HIT) 63

64 See-through vehicles and remote surveillance Figure: Figure: vehicle-multimedia_surveillance- Technologies.php?utm_source= BME Department of Networked Systems and Services (HIT) 64

65 Remote driving Figure: Figure: BME Department of Networked Systems and Services (HIT) 65

66 In-car healthcare Figure: Figure: BME Department of Networked Systems and Services (HIT) 66

67 Case study 1: Medical multimedia transmission over ITS GN protocol BME Department of Networked Systems and Services (HIT) 67

68 The considered scenario we consider a road accident where the injured patient s medical data have to be sent to the emergency vehicles or medical centres to get help as soon as possible medical data have to be sent rapidly to the designated medical experts in order to provide patients with prompt and timely help send medical data to a predefined geographical location (emergency vehicles or hospitals located near to the sender s geographical location ) and such fasten the best possible medical assistance in an emergency situation BME Department of Networked Systems and Services (HIT) 68

69 Testbed infrastructure BME Department of Networked Systems and Services (HIT) 69

70 Results BME Department of Networked Systems and Services (HIT) 70

71 Case study 2: p-based data transmission on highway M1 BME Department of Networked Systems and Services (HIT) 71

72 Considered scenarios Used frequency: 5910 MHz Data bitrate: 6Mbps Packet frequency: 100 packet per sec. Antenna directivity Stationary vehicle is looking forward, moving vehicle is receding Stationary vehicle is looking forward, moving vehicle is approaching Stationary vehicle is looking backward, moving vehicle is receding Stationary vehicle is looking backward, moving vehicle is approaching Stationary vehicle is looking to the left, moving vehicle is receding Stationary vehicle is looking to the left, moving vehicle is approaching Stationary vehicle is looking to the right, moving vehicle is receding Stationary vehicle is looking to the right, moving vehicle is approaching BME Department of Networked Systems and Services (HIT) 72

73 Measurement results Measuring PER and RSSI parameters The stationary vehicle was the receiver node, the moving vehicle was the sender node Within 750 m the PER value was almost 0 percent PER value is relevant for scenarios where the two vehicle is receding both the stationary and the moving vehicle's antennae faced each other BME Department of Networked Systems and Services (HIT) 73

74 Case study 3: LDM-based dynamic network discovery and selection in C-ITS environments BME Department of Networked Systems and Services (HIT) 74

75 Motivation The current C-ITS protocol stack relies on heterogeneous wireless access networks, the communication diversity covers Wi-Fi, DSRC, CALM, 3G, 4G/LTE/LTE-A, and Satellite among others. This fact demands the design and implementation of context-aware, resource efficient, scalable, and optimized Layer 3 mobility management mechanisms integrated into the C-ITS standards. To provide the base infrastructure for such mechanisms, we design a dynamic network discovery and selection framework relying on the tools of Local Dynamic Map (LDM) and Cooperative Awareness Message (CAM) A proof of concept architecture which demonstrates the feasibility of our approach was implemented BME Department of Networked Systems and Services (HIT) 75

76 Proposed architecture BME Department of Networked Systems and Services (HIT) 76

77 Measurement results BME Department of Networked Systems and Services (HIT) 77

78 Case study 4: V2I and I2V ITS usecases in smart cities BME Department of Networked Systems and Services (HIT) 78

79 Motivation Efficient traffic control and management is a fundamental and urgent challenge with goals of: maximizing roadway capacity usage balancing traffic flows decreasing emission improving traffic safety providing the best end-to-end transportation experience Integration of TM with V2X communication techniques offers: cooperative traffic light controller systems adaptively and dynamically coordinated traffic lights comprehensive description of intersections and states wide scale of applications (GLOSA, Signal Priority, etc.) already standardized protocols (MAP, SPAT, etc.) BME Department of Networked Systems and Services (HIT) 79

80 Main goals Showcase the practical integration of traffic light control systems and cooperative communication schemes easily implementable and deployable for tests based on standardized C-ITS messaging V2I/I2V directions TMC decision support HMI information provision support/autonomous vehicle decision support Create a real-life testbed with proof-of-concept implementation currently limited number of approaches integrate advanced V2X technologies into traffic light control systems even fewer put the main focus on the system design and implementation considerations Focus on building blocks and communication BME Department of Networked Systems and Services (HIT) 80

81 Implementation and demonstration setup Digital Society - Digital Economy - Digital Cars (Budapest, 2016) BME Department of Networked Systems and Services (HIT) 81

82 Case study 5: Intelligent parking solutions in smart cities BME Department of Networked Systems and Services (HIT) 82

83 Proposed architecture BME Department of Networked Systems and Services (HIT) 83

84 Implementation details Smart parking management architecture based on V2X communication Providing both centralized and distributed solutions Data transmission over ITS GN protocol Extended CAM or TPEG message for the efficent parking information dissemination Extended LDM functionality to support the data management of parking information objects BME Department of Networked Systems and Services (HIT) 84

85 Thank you for your attention! BME Department of Networked Systems and Services (HIT) 85