1. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 1 Integrated Project Co-operative Systems for Road Safety “Smart Vehicles on Smart Roads” Debra Topham debra.topham@mira.co.uk T1.2.1 Leader SAFESPOTSAFESPOT

2. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 2 Current Status of SP1 Use Case and basic scenario template defined SP1 view of actors defined

3. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 3 Current Status of SP1: SP1 Actors/Entities Users Other probe vehicles SP4_subsystem SP2_subsystem Internal SP3 subsystem Vehicle dynamics Body management Occupant safety systems Environmental systems Navigation system External Other vehicles Pedestrian VRU Cyclist VRU PTW VRU

4. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 4 Current Status of SP1 Road types Motorway/highway Urban Suburban Rural Weather Conditions Fog Rain Wind Snow Road segment Tunnel Bridge Curved road Straight road Intersection/junction Roundabout Pedestrian crossing –Signalled –Unsignalled Diurnal cycle Night Day Initial approach taken was to define scenario titles and attributes, however this did not provide a basis/justification for selection Driving Scenario Attributes

5. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 5 Current Status of SP1:Initial Scenarios Vulnerable road user warning Pedestrian in the road Motorcycle overtaking Pedestrian on the Zebra crossing Pedestrian using pelican crossing Hazard warning Obstacle detected in the road Vehicle travelling in the wrong direction Emergency breaking Driver braking erratically Vehicle being driven erratically Emergency vehicle approaching Accident warning Stolen vehicle warning Environmental hazards (Fire/smoke, pollution) Vehicle has run a red light Road works/lane restrictions Dangerous goods being transported Train approaching road crossing Heavy goods vehicle

6. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 6 Current Status of SP1: Initial Scenarios Driving support Vehicle exceeding advisory speed limit Traffic lights about to change Lane departure support Road works Uneven road surface Lane closures Lane departure support Cooperative driving Lane merge Lane change Traffic beyond range of ADAS sensors slowing down

7. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 7 Current Status of SP1 New approach now being followed to select and describe “basic scenarios” –Previous approach gave no basis or justification for the focus of SP1 scenarios Preliminary selection of scenario titles made Preliminary list of scenario titles described using basic scenario template

8. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 8 SP1 Scenario Selection Process (1) In order to provide a basis for the selection of commonly agreed ‘priority scenarios’ between partners, the following approach has been taken: 1.Scenario groupings defined relating to generic affects on a normal (non-risky) driving situation that can trigger a scenario.  Normal driving (“non-risky)  Road surface condition change (incl. road friction)  Lane traffic condition change (incl. obstacle)  Weather visibility change  Approaching intersection  Significant road geometry change  Lane change  Abnormal driver behaviour

9. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 9 SP1 Scenario Selection Process (2) 2.Each partner contributing to the scenario task defined scenario titles according to the groupings in step 1. 3. Partner contributions collated and overlapping scenarios merged 4.Remaining scenario titles rated according to their priority by each partner:  Top priority = 1  SAFESPOT relevant = 2  Nice to have = 3  More information needed = 4  Reject = 5

10. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 10 SP1 Scenario Selection Process (3) 5.Assessment of partner ratings carried out Due to rating anomalies the following selection criteria was applied to identify scenarios according to level of priority:  Priority: all partners agree  Priority L1: Mixed rating of 1 and 2 and Mode = 1  Priority L2: Mixed rating of 1 and 2 and Mode = 2  Priority L3: Mixed rating 1, 2, 3 and MODE = 1  Other criteria: More info & reject, unclassified

11. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 11 SP1 Scenario Selection Process (4) 6.Preliminary priority scenario list Obstacle (VRU, load, slow veh, jam) in ego lane, Priority L1 Ego turn, approaching obstacle (VRU, load, slow veh, jam) or crossing its path, Priority L1 oncoming vehicle in wrong direction in ego lane, Priority L1 Ego approaching spot with ice in ego lane, Priority Ego vehicle runs a red light or stop sign, Priority L1 Ego vehicle approaches vehicle fire/smoke section (inside a tunnel, on motorway), Priority L1, Ego vehicle approaching road works - restricted lane usage, Priority L2 Emergency vehicle approaching - blue corridor required (cooperative message exchange between vehicles), Priority L1 Ego vehicle - Lane departure (incl. off road), Priority L1 PTW falling on roadway, Priority L3 ego (PTW) overtaking OV while OV making a turn, Priority L1 Ego-vehicle starts braking very hard while other vehicle (PTW) is following, Priority L1 overtaking ego on collision path with oncoming vehicle, Priority L1 Ego vehicle carrying dangerous goods Ego vehicle meets dangerous goods vehicle

12. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 12 SP1 Scenario Selection Process 7.Basic scenario template –The Fields defined within the template aim to capture the selection of attributes from the “attribute scenario diagram” in order to describe a ‘basic’ description of the scenario. –Flowchart created to lead the author of the basic scenario through the process of completing the template (see handout or CBWA)

13. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 13 SP1 Basic Scenario Template

14. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 14 SP1 Basic Scenario Template (continued)

15. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 15 Scenario Attributes Diagram (V1.2)

16. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 16 SP1 Use Case Example Case NameSlippery road condition: Ice warning Case IDSP1_UC2_3_v1.0 StatusDraft Short descriptionEgo vehicle driving along a straight section of motorway detects that the road surface is slippery as a result of ice on the carriageway AuthorsDebra Topham (MIRA) Driving environmentMotorway Vehicle probe typeAll classes of probe vehicle Risk’s sourceIce on the road Precondition  Safeprobe system operational  Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring. Goal/Successful end conditionLocal dynamic map updates the road surface condition to indicate ice on the road SP4_subsystem able to generate ice warning and advise information. Failed end condition  Local dynamic map road condition status does not change  Data not delivered to SP4 in a timely manner  Required sensor data not complete TriggerEPS, ABS activated Frequency of occurrenceDepends on the time of year and country Sensor types and useful dataApproach to be discussed between T1.2.1 partners

17. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 17 SP1 Use Case Example Cont.. Actors/EntitiesSP4 subsystem – primary actor Other probe Vehicles – secondary actor SP3_module – internal entity Vehicle data sources – secondary actor Scenario DescriptionStepAction 1ESP, ABS activated low road friction indicated 2Outside air temperature sensor indicates that the current air temperature is within ice indication range 3From the fusion of the vehicle data the System determines that there is a high probability of ice on the road 4System updates the road surface attribute of the local dynamic map 5System generates local dynamic map update or specific ice condition warning SP3_module broadcasts the message to other probe vehicles and the infrastructure 6SP3_module broadcasts the message to other probe vehicles and the infrastructure 7Fused data available for SP4 subsystem to generate ice warning and driving advise ExtensionsStepAction 1aESP, ABS data delivers corrupted or failure message 2aOutside air temperature sensor faulty, error reading 2a.1 From data fusion process LDM road surface condition attribute is updated with a non-specific slippery road condition status 2.a.2 SP3 module broadcasts LDM update/ warning to SP2-subsystem and other probe vehicles

18. SAFESPOT Project SP1/SP4 Harmonization Meeting 9 th June, Lyon 18 SP1 Use Case Example Cont.. Super ordinates Subordinates Open issues Comments  Pre-conditions may form a separate driving scenario  Feasibility of mapping useful sensor data to use to be discussed