Standardisation Proposal

Transcription

1 EUROPEAN COMMISSION SEVENTH FRAMEWORK PROGRAMME GA No Cooperative dynamic formation of platoons for safe and energy-optimized goods transportation D3.3 - Standardisation Proposal Deliverable No. 3.3 Deliverable Title Dissemination level Written By Checked by Standardisation Proposal Sergi Urpi, Applus+ IDIADA Jordi Pont, Applus+ IDIADA Marcos Pillado (Applus+ IDIADA) WP7 Leader Sönke Eilers (OFFIS) WP3 Leader Christian Bruns (Volkswagen) WP4 and WP8 Leader Henrik Petterson (Scania) Marta Tobar (Applus+ IDIADA) 14/08/ /08/2016 Approved by Magnus Adolfson (Scania) Technical Coordinator 30/09/2016 Issue date 30/09/2016

2 History log Name Status Version Date Summary of actions made Applus+ IDIADA Editor /08/2016 First draft Jordi Pont Sergi Urpí Applus+ IDIADA Reviewer /08/2016 Revision Marcos Pillado Volkswagen Reviewer /08/2016 Revision Christian Bruns Applus+ IDIADA Reviewer /08/2016 Revision Marta Tobar OFFIS Reviewer /08/2016 Revision Soenke Eilers Scania Reviewer /08/2016 Revision Henrik Pettersson Applus+ IDIADA Editor /08/2016 Incorporated comments Sergi Urpí Applus+ IDIADA Reviewer /09/2016 Revision Marcos Pillado Applus+ IDIADA Editor /09/2016 Some extra information added Sergi Urpí Applus+ IDIADA Marcos Pillado Reviewer /09/2016 Revision 2 / 18

3 Executive summary This document reports the work done in task 3.3 Standardisation Proposals of WP3 Architecture and Technical Specifications of the COMPANION project. This work package concentrates on the development of the overall system architecture. This includes concepts for the definition of necessary information and its granularity, modelling of information structure, quality of service and quality of data aspects as well as standardisation proposals. COMPANION architecture and technical specifications should be developed according to the published standards to the date regarding the different components to be developed. Communication protocols and interfaces should be compliant to open, standardised interfaces towards optimising deployment and scalability (e.g. ETSI ITS or GTFS standards). In order to implement the new technologies related to platooning in advanced and efficient new vehicles, it is necessary to set up the standardisation proposals related to the technical specifications and requirements these involved vehicles and operations should fulfil. According to this, it is necessary to obtain a validated understanding of the different aspects of the overall system architecture and information models. This deliverable will summarises the main standardisation proposals, based on the analysis of test results performed along the project. These proposals will be compiled and made available to the EC and the different standardisation bodies as recommendations for future regulatory and selfcompliance initiatives from public and private parties (e.g. Car 2 Car Consortium). 3 / 18

4 Contents History log... 2 Executive summary... 3 Contents... 4 List of Figures... 5 List of Tables Introduction Current Status ETSI ETSI TR ETSI TR SAE IEEE GPP ISO Standardisation Activates COMPANION VRA joint Workshop ETSI working item C-ACC and Platooning COMPANION Proposals Frequency Channel Extended Message Set of CA and DE New Message Set Message Transmission Requirements and Future needs V2I Communications Conclusions References Glossary / 18

5 List of Figures Figure 1. Example of ITS reference architecture... 8 Figure 2. Frequency Band / 18

6 List of Tables Table 1. Message Fields / 18

7 1. Introduction Simple 'cruise control' was the automation of speed maintenance at a single automobile. The concept of C-ACC aims at the same level of automation but in a cooperative manner between several vehicles: while in CC mode, when a vehicle in front slowly decelerates, this vehicle will also do, such as to maintain distance, and relieve driver from taking over control. Cooperative Adaptive Cruise Control (C-ACC) and Platooning are two use-cases related to the COMPANION system that are addressed differently depending on the Standards Development Organizations (SDOs). C-ACC (Cooperative Adaptive Cruise Control) automatically controls the longitudinal distance, enabling the creating of chain of vehicles following each other at constant speed. Mainly, C-ACC functionalities are directly related to driver comfort. Instead, Platooning has a similar concept but it is more related to energy efficiency. Specially, it is expected that with large vehicles following each other at short distances the air-drag is reduced, influencing directly on fuel consumption gains. Both C-ACC and Platooning require V2X information exchange. These needs could be directly supplied for the other vehicles, performing V2V (vehicle-to-vehicle) communications, or with the assistance of a fixed communication infrastructure (vehicle-to-infrastructure). The COMPANION system goes one step forward using coordinated platoons which allow merging different truck routes in order to maximize the fuel savings. This deliverable provides an overview of the current status of standardisation for C-ACC (Cooperative Adaptive Cruise Control) and Platooning on the different SDOs (Standards Developing Organizations). The document continues presenting the standardisation activities undertaking. The deliverable concludes proposing standardisation needs based on the current situation in Europe regarding platooning and taking into account the issues found and the analysis of test results performed during the project. 7 / 18

8 2. Current Status Cooperative Intelligent Transport Systems (C-ITS) are based on the exchange of information in order get a better understanding of the environment and cooperatively increase safety, traffic efficiency and improve mobility. Standards are needed to guarantee minimums of quality and safety but moreover, sue to the fact that vehicles in the C-ITS domain are no longer isolated, standards need to be agreed in order to facility the exchange of information and therefore, the interoperability of the systems. When referring to C-ITS, the relevant SDOs active in standardisation of platooning and C- ACC are - ETSI European Telecommunications Standards Institute. - SAE Society of Automotive Engineers - IEEE Institute of Electrical and Electronics Engineers - 3GPP 3rd Generation Partnership Project - ISO International Organization for Standardisation. The following sections will provide details about the different perspective that the before mentioned SDOs have for the standardisation of C-ACC and platooning ETSI Currently, ETSI is defining C-ACC as a driver assistance system that adjusts automatically the vehicle speed to keep a target time gap with preceding vehicle making use of data received from other either ITS Vehicle Stations (IVSs) or ITS Roadside Stations (IRSs). The C-ACC system includes at least one ITS-S application (denoted as C-ACC application) that implements the application logic with the services provided by the lower communication layers (Facilities, Networking & Transport layer, Access layer) as specified in [1] and represented in Figure 1, and a set of hardware components. Figure 1. Example of ITS reference architecture 8 / 18

9 For the facility layer, the facility modules used should at least be the CA (Cooperative Awareness) basic service, DEN (Decentralized Environmental Notification) basic service ( [2]) and depending on the specific scenario, some extra modules as well as some extra messages may be required. The CA module communicate with other entities of the facilities layer and with the ITS application layer in order to collect relevant information for CAM generation and to forward the received CAM content for further processing. The DEN basic service is a facilities layer entity that operates the DENM protocol. It provides services to entities at the ITS application layer. At the originating ITS-S, an ITS-S application may trigger, update and terminate the transmission of DENMs. An extension of the current CA and DEN messages is also considered and it is planned to be published soon but is not targeting C-ACC or platooning. The different manoeuvres that ETSI is addressing are: - Activation of the C-ACC - Join of a vehicle to the C-ACC string of vehicles - Maintain the C-ACC string - Leave the C-ACC string - Deactivation of the C-ACC - Cut-Ins, i.e. vehicle without C-ACC that cuts in a C-ACC string of vehicles - Lane change of the C-ACC string - Emergency stop of the C-ACC string Actually, ETSI ITS WG1 is the responsible for development of application requirements and services for C-ITS ad is treating in two differentiated working items C-ACC and platooning: ETSI TR ETSI TR Cooperative Adaptive Cruise Control (C-ACC); Pre-standardisation study is the working item that ETSI has defined to address C-ACC. ETSI considers C-ACC an Advanced Driving Assistance System (ADAS) that adjusts the vehicle speed to keep a desired time gap with preceding vehicle (target vehicle) to improve driving comfort. In addition, reduction of fuel consumption may be gained but it is not the primary objective of C-ACC. The document contains a definition of the use cases and technical requirements identified with some recommendations on technical specifications ETSI TR ETSI TR Platooning; Pre-standardisation study is the working item that ETSI has defined to address platooning. The work has recently started, some discussions have been initiated but no documentation has been generated yet SAE SAE is more focused on compiling performance requirements for the V2V Safety Communications profile, preparing them for a US-mandated implementation of V2V systems. The vehicle would send a Basic Safety Message, plus path history and path prediction extensions to a host vehicle. This message gives the information used in a driver warning or alert algorithm. 9 / 18

10 The SAE DSRC Technical Committee (DSRC: Dedicated Short-Range Communications) is working on C- ACC within the Cooperative Vehicle Task Force. The SAE DSRC TC activities are in agreement to ETSI ITS WG1. In addition, SAE On-Road Vehicle Automation Committee is developing a reference architecture for the most relevant scenarios of C-ACC but not plan to address platooning in at least the short term IEEE The intent of IEEE is to harmonize the IEEE 1609 and ISO FAST protocols at 5.9GHz to avoid having to support different protocols in Europe, US and Japan. C-ACC and Platooning for IEEE are C-ITS (Cooperative Intelligent Transport System) services that will be deployed as ITS applications on ITS stations like vehicles. These applications will use ITS station communication services. Some of these services are network and transport protocols, data link layer protocols and physical layer protocols which have the necessary latency (low-latency), adapted bandwidth (moderate bandwidth) and data integrity and security (agile encryption). IEEE recommends that some communication tasks in C-ACC and Platooning will use IPv6, whereas, for example, some vendors of WAVE devices and ITS station units others will not us IPv6 for communications tasks and consider the use of the non-defined messages protocol (not IPv6) for C-ACC and Platooning scenarios GPP 3GPP uses the so called Proximity Service (ProSe). This system allows UEs (User equipment) to discover and communicate with other UEs that are in proximity directly (Device to device communication). The latency in ProSe communication may be a problem for V2X because most of the use cases are intended for common mobile users (pedestrians), but not for vehicles moving at high speed. So far, ProSe does not support V2X communication but in Release 14 many proposals are towards enabling V2X features: Adapt V2X use cases to 3GPP environment. Actually, some other SDOs like ETSI, referenced different requirements for V2X communication. 3GPP pretends to consider some of them, e.g. network delay, packet loss rate, etc. Other documents mention some requirements but those are considered for future mobile networks and they may be critical for LTE. Adaption for V2X applications and messages such as messages defined in SAE J2735, ETSI Cooperative Awareness Message (CAM) and ETSI Decentralized Environmental Notification Message (DeNM). In addition, 3GPP defines different services (e.g. C-ACC, FCW) in a set of documents. In particular, [3] studies many V2X services using LTE. These V2X services include V2V communication, V2I communication and vehicle to pedestrian communication allowing a future implementation and usage of many standard compliant applications such as C-ACC. C-ACC communication needs are related to some specific manoeuvres. The vehicles of C-ACC string shall periodically broadcast messages, such as speed, and gap information. A communication protocol has been defined for joining and leaving the C-ACC group and it is specified through request and response messages. 10 / 18

11 2.5. ISO ISO Technical Committee 204 "Intelligent transport systems" has specified the overall architecture that covers all protocol stack with the following layers: Access technologies (vehicular WiFi p, urban WiFi b/g/n/ac/ad; cellular networks; satellite; infra-red, LiFi, millimeter wave, etc.), Networking, Transport, Access and Applications. The ISO TC204/WG14 (Work Group 14 "Vehicle/Roadway Warning and Control Systems") is developing a draft of international standard for some functions that includes C-ACC systems. A few of these functions are now under the development with the collaboration and harmonization of three SDOs and four working groups. The final objective is to develop compatible standards which enable the development of interoperable systems. The ISO work item for C-ACC standardisation is on an early stage of development; it may describe performance requirements or validation through test procedures. "C-ACC" is considered as an expansion of the existing ACC concepts which have been previously described in [4]. The C-ACC work item in addition to requiring active sensing involving radars and camera systems, it will use V2V and V2I as a requirement to provide several functions using information of the environment. 11 / 18

12 3. Standardisation Activates 3.1. COMPANION VRA joint Workshop COMPANION project, through the VRA network organized joint workshop between the relevant experts in standardisation from the different FP7 Call 10 projects (COMPANION, Adaptive, igame, Autonet2030, VRA) during June This workshop showed the rest of the projects their activities in standardisation and identified potential overlaps or gaps that may encourage coordination between the projects. Some of the topics identified were: V2V Standardisation (new messages set and interaction (com. protocol)) and Interoperability. ADAS/AD based systems. Standardisation in terms of interaction, use cases and testing methodologies. State of the art of Homologation according to the feedback provided for UNECE ITS/AD informal group. Synergies between projects identifying overlaps and coordinate actions and results. Wrap up and next steps. The Workshop concluded with different points to consider starting with some requests made from the European Commission such as, giving support to Vehicle and Road Automation and promoting European connected driving and standardisation. It has been also discussed the necessity of a reference Roadmap for standardisation. WP.29 it is currently working on it by performing homologations and certifications activities. Regarding the V2X message set, many approaches were made and helped in specifying a common target or goal. This on-going cooperation implied some extensions or creations of the currently existing standards for Advanced Driver assistance systems with which ISO is working ETSI working item C-ACC and Platooning Applus+ IDIADA has joint discussions of the working item for C-ACC at ETSI ETSI TR and provided feedback based on the lessons learned and tests results during the implementation of the COMPANION project. Applus+ IDIADA showed interest and offered resources for contributing to the standardisation of platooning at ETSI TR via the rapporteur of the working item. However, this work has not really started yet. Nevertheless, Applus+ IDIADA plans to keep contributing to the standardisation activities of platooning. 12 / 18

13 4. COMPANION Proposals COMPANION has identified some needs for enabling platooning manoeuvres based on the current status of the relevant standards and gaps identified during the implementation of the platooning solutions Frequency Channel COMPANION project proposes to send general information for platooning through BTP protocol on the Control Channel (CCH) and controlling and directing information on an specific Service Channel (SCH). The current protocol stack implements some modifications from the standard ETSI TC ITS stack (see Figure 2) but it is still using the same frequency (5900 MHz). Figure 2. Frequency Band These modifications in the protocol stack are directly related with the extra information needed for the system. However, 5900 Mhz frequency is still chosen for the control communications with the intention of being partially compliance with the ITS-G5 protocol stack Extended Message Set of CA and DE The COMPANION project proposes extended version of CAM [5] and DENM [1] for V2V communications. As mentioned before, extended versions of CAM are used, COMPANION proposes in Table 1 all the fields required in CAM (for details about the units of the values in the table, please see [2]): Name Brief Description Vehicle ID Vehicle id of the current vehicle. Platoon ID Platoon id of the current vehicle. Position in Platoon Vehicle position in platoon according to assignment plan. Distance to Vehicle Distance to vehicle ahead in s Speed to Vehicle Speed of vehicle ahead in m/s. Vehicle speed Speed of the current vehicle in m/s. Vehicle longitudinal acceleration Longitudinal acceleration of the current vehicle in m/s / 18

14 Yaw rate Requested Speed Retardation of Brake Yaw rate of the current vehicle in degrees. Requested speed of the current vehicle in Km/h. Demanded retardation from brake management system. Lateral acceleration Lateral acceleration of the current vehicle in m/s 2. Brake pedal position Latitude Longitude Elevation Heading GPS speed GPS time Time since start of minute Speed of Intruder Distance to intruder Intruder Exist Brake pedal position. Latitude in WGS84 coordinate system. Longitude in WGS84 coordinate system. Elevation in WGS84 coordinate system. Heading in degrees. Speed retuned from the GPS in m/s. Time of GPS fix, microsecond, Unix time. Milliseconds since start of minute Speed of the intruder vehicle in Km/h Distance to intruder in meters. Existence of a intruder vehicle. Table 1. Message Fields All fields added to the message transmitted through vehicles are directly related to the platooning manoeuvre which seeks comfort and fuel savings. These needs imply detailed information for specific scenarios for this use case such as: Identification of intruders with its current speed and distance gap. Platoon identification and vehicle identification inside platoon. Without this extra information the platooning might not be logical possible and even if it could be the level of safety could totally decrease and became unacceptable for the objectives established New Message Set Some other service messages for directing and controlling the platoon and its members are not described here but standardisation is foreseen. These messages shall be sent on a separate channel for platooning application in a way that vehicles in the platoon create a network that will require low latency and high reliability Message Transmission Requirements and Future needs For the platooning application done in COMPANION project it was also identified that the default frequency for broadcasting CAMs was not enough and it is proposed to increase to a frequency of 20 Hz since with less frequency the On-board unit is processing information not enough on time for platooning trucks, implying a considerable loss of safety V2I Communications There is some information not included in the COMPANION system that it is also foreseen to be needed in a production system. This information is about the physical properties of the truck such us the length, weight, engine power, height, etc. All this information does not need to be sent between vehicles (V2V) but it could be sent via the off-board or the on-board system depending on the scenario. 14 / 18

15 The COMPANION project uses the communication between the off-board and on-board system to replace a number of platooning messages. Such a requests to join a platoon, merge into platoon, splitting from platoon and so on are sent from the off-board system to the on-board system in the plans. 15 / 18

16 5. Conclusions The differences between the different SDOs reveal a need for standardisation. Actually, each SDO is identifying several needs for each application that were briefly introduced in the current document. These must be specified to ensure and preserve some characteristics like interoperability by commonly defined communication protocols, thanks to harmonized standardised architecture with standardized data exchange interfaces and a set of performance requirements for future autonomous driving. To sum up, the present document lists bellow the standardisation needs identified for the deployment and operation of truck platoons in Europe based on the analysis of the current standards and the issues identified during the implementation and operation of the COMPANION system. Common definition of platooning and C-ACC between SDOs. New facilities layer protocol (or extension of existing ones) that supports the platooning application. Separate frequency channel for C-ACC and platooning. So far, CCH (Control Channel) is being used but extra bandwidth and usage of SCH (Service Channel) is foreseen. Separate security solution for the platoon to reduce overhead, e.g. cryptoagility since latency requirements for platooning operation are high. Define common arrangement of the platoon based on the truck specifications to maximise the fuel consumption reduction. Extension of ISO for fulfilment of functional safety requirements of platoons. Legal framework (driver, safety distance) that enables platoon across Europe. 16 / 18

17 References [1] ETSI, ETSI EN Specifications of Decentralized Environmental Notification Basic Service, September [2] ETSI, TS V1.2.1 Applications and facilities layer common data dictionary, [3] 3GPP, GPP-TR Study on LTE support for Vehicle to Everything (V2X) services, [4] ISO Intelligent transport systems -- Adaptive Cruise Control systems -- Performance requirements and test procedures, [5] ETSI, EN V Specification of Cooperative Awareness Basic Service, ETSI, [6] ISO/TC Intelligent transport systems, [7] C-ACC at SDOs and IP Gap Analysis, [8] D7.3 Limited validation results of the integrated system, COMPANION Project, [9] D7.1 Limited results of the on-board coordinated platooning system performance evaluation via physical testing, COMPANION Project, [10] D7.2 Limited results of the off-board platoon coordination system via simulation, COMPANION Project, / 18

18 Glossary For the purpose of the present document, the following abbreviations apply: 3GPP ADAS BTP CA C-ACC CAM CCH C-ITS DEN DENM DSRC ETSI HMI IEEE IRS ISO IVS LTE ProSe SAE SCH SDO UE V2I V2V WAVE WIFI WP 3rd Generation Partnership Project Advanced Driving Assistance System Basic transport Protocol Cooperative Awareness Cooperative Adaptive Cruise Control Cooperative Awareness Message Control Channel Cooperative Intelligent Transport Systems Decentralized Environmental Notification Decentralized Environmental Notification Message Dedicated Short-Range Communications European Telecommunications Standards Institute Human Machine Interface Institute of Electrical and Electronics Engineers Intelligent Road Station International Organization for Standardisation Intelligent Vehicle Station Long Term Evolution Proximity Service Society of Automotive Engineers Service Channel Standards Developing Organizations User Equipment Vehicle to Infrastructure Vehicle to Vehicle Wireless Access in Vehicular Environments Wireless Fidelity Working Package 18 / 18