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The value of communication and infrastructure for automated carsProfessor Robert W. Heath Jr., PhD, PE
Wireless Networking and Communications GroupDepartment of Electrical and Computer EngineeringThe University of Texas at Austin
www.profheath.org
Thanks to sponsors including the U.S. Department of Transportation through the Data-Supported Transportation Operations and Planning (D-STOP) Tier 1 University Transportation Center, the Texas Department of Transportation under Project 0-6877 entitled “Communications and Radar- Supported Transportation Operations and Planning (CAR-STOP)”, National Instruments, and Toyota IDC
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Automated vehicles
Fullyself-driving automation
LEVEL 4
Driver providesdestination
Driver not available for control
Limited/FullSelf driving cars
Driver can cedecontrol over a primary function (eg. ACC)Responsible for safe operation
Full driver control at alltimes
Diver can cede full control of all safety-critical functions
Driver does not have to monitor the roadway at all times
LEVEL 3
Limitedself-driving automation
LEVEL 2
Combinedfunction
automation
LEVEL 1
Function specific
automation
LEVEL 0
No automation
Driver can cedecontrol on at least two primary functions
Driver responsible for monitoring the roadway
NHTSA, “Preliminary Statement of Policy Concerning Automated Vehicles”, 2013
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Myths surrounding automated vehicles
Automated vehicles can be fully autonomous, no communication is required
MYTH 1
Infrastructure has no value for automated vehicles
MYTH 2
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Limited range of vehicular sensing (ideal)
Car with a driver
Radar can see 200 meters
Drivers can see 3000 meters
Cameras can see30 meters
Lidar can see 100 meters
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Limited range of vehicular sensing (in traffic)
Radar can see 3-5 meters
Drivers can see 3-5 meters
Cameras can see3-5 meters
Lidar can see 3-5 meters
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How is this solved in aviation?
Show airplane flying Show airplane flying into clouds
Air traffic control tower
Radar tower
Combination of communication, sensing, and infrastructure
Air-to-air commun.
A2A
Airport trafficcontrol tower
Transponder
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Separation between aircraft for collision
avoidance
Fly through weather with limited or no
visibility
Access to restricted airspace, faster routes,
more flight options
Full automation is not required, though
automated flying using 2D and 3D autopilots using inertial guidance
or GPS is common
Benefits of communication and sensing
Image source: http://www.dailymail.co.uk/news/article-2548628/
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Do all aircraft really exploit comm. and sensing?
Flies instrument flight rules (IFR)
o Access to restricted airspaceo Faster routes and more flight optionso Ground based radar can track VFR and
IFR aircraft
Flies under visual flight rules (VFR)
o Less flexible travel, limited airspaceo Need to carefully monitor weathero Recreational form of travel
No!
Takeaway #1: Communication is usefulExpand the sensing range of
the vehicle
Higher levels of traffic coordination like platooning
Allows interactions between vehicles with
different automation levels
More informed safety decisions
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Takeaway #2: Infrastructure is valuable
Effective with non-connected cars, bicycles, and pedestrians
Can be used for other functions, for example
more precise navigation
Supports sensing of the environment, does not require
all cars to have complete sensing equipment
Helps coordinate traffic through intersections, eliminating lights
!
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Ex: Passing on rural roads
What if the bus or oncoming car do not have communication capability?
82% of head-on fatal collisions take place in
rural areas
Radar requires line-of-sight
Both communication and radar are useful for collision avoidance
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Ex: Passing on rural roads
Infrastructure has enhanced sensing, better communication range
Infrastructure w/ sensing can broadcast position, velocity, and acceleration of
vehicles
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# of collisions with correct warning
# of safe maneuvers with incorrect warning
# of safe maneuvers with received warning message
V2V - DSRC 2,545 113 349
V2I with 200m spacing 3,482 322 1097
V2I with 500m spacing 3,436 288 985
Benefits of comm. and sensing at infrastructure
Infrastructure can provide much better collision warning capability
Alice Chu, Michael Motro, Junil Choi, Abdul Rawoof Pinjari, Chandra R. Bhat, Joydeep Ghosh, and R. W. Heath, Jr., ``Vehicular Ad-Hoc Network (VANET) Simulations Of Overtaking Maneuvers On Two-Lane Rural Highways,'' submitted February 2016.
3,593 collisions 1,097 safe maneuvers
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Other benefits of sensing & infrastructure
* J. Choi, N. González Prelcic, R. Daniels, C. R. Bhat, and R. W. Heath, Jr., `` Millimeter Wave Vehicular Communication to Support Massive Automotive Sensing,'' submitted to IEEE Communications Magazine, February 2016. Also available on ArXiv.** N. Gonzalez-Prelcic, Roi Mendez-Rial, and R. W. Heath Jr., ”Radar aided beamforming in mmWave V2I communications support antenna diversity," ITA 2016 .
BS supportingV2X
antennas
Radar operating in another band Radar at the infrastructure
can help predict blockages
Improves communication link efficiency and reduces overheads
What can we expect of smart cities in the future?
15http://static.guim.co.uk/sys-images/Guardian/Pix/pictures
RESTRICTED LANES
RURAL AREA
DENSE URBAN AREA
DENSE SUBURBAN AREA
Class B Road SpaceLevel 4 automation and full communication only Automated-only
lane
Class C Road SpaceLevel 3 automation and full communication only
Class G Road SpaceNo automation or communication requirementMust use communication equipment if available