1. AustriaTech – Federal Agency for technological Measures Ltd. Requirements on Vehicle Positioning and Map Referencing for Co-operative Systems on motorways Martin Böhm, Thomas Scheider E-Navigation Oct. 16-17, 2007

2. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007  AustriaTech  Co-operative Systems Co-operative Traffic Management Co-operative Services Requirements on Positioning and Map Referencing  Conclusion Agenda

3. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 AustriaTech  Foundation: 2005  Spin-off of via donau – Österreichische Wasserstraßen-Gesellschaft mbH  100% subsidiary of the bmvit (Austrian Ministry of Transport, Innovation and Technology)  AustriaTech is the steering instrument of the bmvit to assure the development and deployment of telematics in the Austrian transport network inline with macro-economic benefits for the society.

4. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 AustriaTech – main projects  Telematics Master Plan Austria  ITS-Austria Initiative  Contribution to standardisation (CEN, ISO)  Coordination of national R&D projects in the field of ITS  CONNECT – Co-ordination and Stimulation of Innovative ITS Activities in Central and Eastern European Countries  Project coordinator of COOPERS – Co-operative Systems for Intelligent Road Safety

5. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Research areas in ITS Autonomous vehicle systems research (e.g. CVIS, EASIS…) and CALM - standard in communication technology COOPERS Infrastructure to vehicle communication link Vehicle to vehicle research projects (e.g Car2Car consortium, SAFESPOT..)

6. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Variable Message Sign Terrestrial Broadcast RDS, DAB, DVB-H UMTS WiMAX Info-Broadcaster GSM-GPRS Sat-Comm COOPERSCVISSafeSpotSISTER Broadcast Transmitter Vehicle-to-Vehicle (M5, IR, MM) Hot-Spot (Wireless LAN) GPS, Galileo Beacon CALM-M5 CALM-IR CEN-DSRC Co-operative Systems in ITS

7. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 COOPERS VISION Vehicles are connected via continuous wireless communication with the road infrastructure on motorways, exchange data and information relevant for the specific road segment to increase overall road safety and enable co-operative traffic management.

8. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 I2V communication  Fast exchange of safety related information from the infrastructure to the drivers and vice versa  Road safety: precise and situation related real time advice/information improves safety of driving  Related to traffic, weather and road infrastructure status (e.g. road surface, but also network saturation!)  Identification of violations

9. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Communication Chain TCC DSS DSS … Decision Support Service S4 S3 S2 S1 EVENTEVENT FILTERFILTER OPERATOR

10. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Communication Chain TCC DSS DSS … Decision Support Service S4 S3 S2 S1 EVENTEVENT FILTERFILTER OPERATOR Free flow

11. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Infrastructure-to-vehicle communication links  DSRC (IR, Microwave)  Cell based (GSM/GPRS, UMTS)  Broadcast (DAB, DMB, DVB-H)  GNSS

12. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Services  Accident/Incident Warning  Weather Condition Warning  Roadwork Information  Lane Utilisation Information  In-Vehicle Variable Speed Limit Information  Traffic Congestion Warning

13. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Services  ISA with Infrastructure Link  Road Charging to Influence Demand  International Service Handover  Route Navigation - Estimated Journey Time  Route Navigation – Recommended Next Link  Route Navigation – Map Information Check to Inform of Current Update for Digital Maps

14. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Areas for improvement on Vehicle Positioning and Geo-referencing  I2V communication Lane banning Variable speed limit ISA with Infrastructure Link  V2I communication xFCD  Lane dependent information is necessary !

15. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Lane Utilisation Information Change of Speed Change of Driving-Direction (change lane, take exit, use hard shoulder, no passing…)  Very specific recommendations/instructions  Reduction of information overload  No interpretation of the information by the driver necessary Enhancement of driving safety

16. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 xFCD  vehicle kinematics (wheel speeds,..)  safety systems (ABS, ASR, ESP event) activity, emergency flasher and alarm if a crash was detected  weather information (outside air temp, rain sensor status, fog lamp status)  vehicle GNSS position  Use vehicles as a floating probes to improve event detection

17. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Lane specific localisation of the vehicle (for lane services)  positioning accuracy transversal accuracy +/- 1.0 meters longitudinal accuracy +/- 30 meters Requirements on Vehicle Positioning +/- 1.0 meters +/- 30 meters

18. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Robust Positioning Unit „Robust Positioning Unit“ (RPU)  Requirements of the RPU: High accuracy, High reliability and Integrity.  Key technology „fault tolerant Navigation“ Galileo Receiver (GSSF) Wheel speed Turn-rate-sensor (Gyro) Differential-Odometry  Integration of available in car sensors (CAN-Bus).  Core of the RPU will be the sensor fusion.

19. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Sensor Data Fusion Galileo GPS Gyro Optimum Navigation Sensor 2 Sensor 1 Optimum Sensorfusion Nav Algorithm Odometer  Important requirements for relevant applications in traffic systems:  Sensor fusion  High performance (Accuracy, Availability, Integrity)  Low Cost of On-Board-Units Bake Map Matching

20. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 RPU - Implementation  Migration of the developed optimal fusion algorithm towards a real time system.  Selection of an adequate hardware platform for the execution of the real time algorithm and other components (HMI, database, etc.).  Connection of the processing unit with the individual sensor components.  Design and implementation of interfaces towards other OBU elements.

21. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Requirements on Map referencing Position-data must have a clear and unique reference to the in-vehicle map absolut accuracy  no problem relative accuracy  lane specific referencing? +/- 1.0 meters +/- 30 meters

22. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Relative Accuracy in current maps Current geo-databases: Source: www.dlib.org/dlib/july00/crane/07crane.htmlwww.dlib.org/dlib/july00/crane/07crane.html Link database (centerline of the road) Every link indicates numer of lanes  Calibration of map matching?

23. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Calibration of the Nav-System Calibration at each gantry via Infra-Red:  lane information  map update

24. Martin BÖHM I Thomas SCHEIDER | Oct. 17, 2007 Conclusion Requirements on Vehicle Positioning and Map Referencing for Co-operative Systems:  lane dependend traffic information Reduced distraction of the driver by receiving only relevant information Precise information from the vehicle to the road operator  Map referencing  Calibration (including map update) at each gantry  New map model (?)

25. AustriaTech – Gesellschaft des Bundes für technologiepolitische Maßnahmen GmbH Donau-City-Straße 1 1220 Wien, Österreich Tel. +43 1 26 33 444 39 Fax +43 1 26 33 444 10 thomas.scheider@austriatech.org www.austriatech.org AustriaTech – Gesellschaft des Bundes für technologiepolitische Maßnahmen GmbH Donau-City-Straße 1 1220 Wien, Österreich Tel. +43 1 26 33 444 63 Fax +43 1 26 33 444 10 martin.boehm@austriatech.org www.austriatech.org Thomas ScheiderMartin Böhm