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ROAD INFRASTRUCTURE SUPPORT LEVELS FOR AUTOMATED DRIVING Jacqueline ErhartASFINAG Maut Service GmbH
TS37 - Roadmaps to deployment
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
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Road infrastructure support levels 2
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
First: mixed traffic of conventional, connected and automated vehicles
Safe and efficient traffic flow
AUTOMATED DRIVING IN MIXED TRAFFIC
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VEHICLES’ PERCEPTION IN MIXED TRAFFICsupported by map data
limited without additional (virtual) sensorse.g. road infrastructure data
Road infrastructure support levels 3
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
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C2X
ROAD OPERATOR INFORMATION
Road infrastructure support levels 4
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
V2X communication
- communication to indicate safety critical information
- guide vehicles through the traffic by using the
information provided by infrastructure sensors
Static data:Lane
markings, landmarks,
map
Digital content of VMS,
weather data, etc.
Dynamic data:Incident data,
position of roadwork zones,
ground truth
GNSS correction
signalsEnvironmental
perception
Readability of static message signs and VMS
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AUTOMATED DRIVING MANOEUVERS IN MIXED TRAFFICIn everyday mixed traffic situations like
Infrastructure can support guiding automated andconnected vehicles through the traffic flow by physicalinfrastructure elements and by infrastructure data sharingas a valid base for on-board decision making.
Road infrastructure support levels 5
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
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INFRASTRUCTURE SUPPORT LEVELS - APPROACH
Awareness
Dynamic Ground Truth
Cooperative Services
Future Mobility
Road infrastructure support levels 6
Sour
ce: D
G M
OVE
Dire
ctor
ate-
Gen
eral
for M
obilit
y an
d Tr
ansp
ort-E
U
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
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INFRASTRUCTURE SUPPORT LEVELS FOR AUTOMATED DRIVING (ISAD)
Road infrastructure support levels 7
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
A Cooperative driving Based on the real-time information on vehicle movements, the infrastructure is able to guide AVs (groups of vehicles or single vehicles) in order to optimize the overall traffic flow. X X X X
B Cooperative perception Infrastructure is capable of perceiving microscopic traffic situations and providing this data to AVs in real-time X X X
C Dynamic digital information All dynamic and static infrastructure information is available in digital form and can be provided to AVs. X X
D Static digital information / Map supportDigital map data is available with static road signs. Map data could be complemented by physical reference points (landmarks signs). Traffic lights, short term road works and VMS need to be recognized by AVs.
X
E Conventional infrastructure / no AV support Conventional infrastructure without digital information. AVs need to recognise road geometry and road signs.Con
vent
iona
l in
frast
ruct
ure
Dig
ital
infra
stru
ctur
e
Mic
rosc
opic
traf
fic
situ
atio
n
Level Name Description
Digital information provided to AVs
Dig
ital m
ap w
ith
stat
ic ro
ad s
igns
VMS,
war
ning
s,
inci
dent
s, w
eath
er
Gui
danc
e: s
peed
, ga
p, la
ne a
dvic
e
Tabelle1
LevelNameDescriptionDigital information provided to AVs
Digital map with static road signsVMS, warnings, incidents, weatherMicroscopic traffic situation Guidance: speed, gap, lane advice
Digital infrastructureACooperative drivingBased on the real-time information on vehicle movements, the infrastructure is able to guide AVs (groups of vehicles or single vehicles) in order to optimize the overall traffic flow.XXXX
BCooperative perceptionInfrastructure is capable of perceiving microscopic traffic situations and providing this data to AVs in real-timeXXX
CDynamic digital informationAll dynamic and static infrastructure information is available in digital form and can be provided to AVs.XX
Conventional infrastructureDStatic digital information / Map supportDigital map data is available with static road signs. Map data could be complemented by physical reference points (landmarks signs). Traffic lights, short term road works and VMS need to be recognized by AVs.X
EConventional infrastructure / no AV supportConventional infrastructure without digital information. AVs need to recognise road geometry and road signs.
Tabelle2
LevelNameDescriptionDigital information provided to AVs
Digital map with static road signsVMS, warnings, incidents, weatherMicroscopicGuidance: speed, gap, lane advice
traffic situation
Conventional infrastructureEConventional infrastructure / no AV supportConventional infrastructure without digital information. AVs need to recognise road geometry and road signs.
DStatic digital information / Map supportDigital map data is available with static road signs. Map data could be complemented by physical reference points (landmarks signs). Traffic lights, short term road works and VMS need to be recognized by AVs.X
DigitalCDynamic digital informationAll dynamic and static infrastructure information is available in digital form and can be provided to AVs.XX
infrastructureBCooperative perceptionInfrastructure is capable of perceiving microscopic traffic situations and providing this data to AVs in real-timeXXX
ACooperative drivingBased on the real-time information on vehicle movements, the infrastructure is able to guide AVs (groups of vehicles or single vehicles) in order to optimize the overall traffic flow.XXXX
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ISAD ON SCHEMATIC ROAD SEGMENT
• Level of information and services different on-board vehicle decisions can be supported
Additional information for CAVs
Road infrastructure support levels 8
A
B
CC
C
D
D
E
Urban area
Level ALevel BLevel CLevel DLevel E
VMS
VMS
VMS
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
Sensor coverage
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Road infrastructure: • Length: 20 km• Lanes: 4+4• Intersections: 4+4• Exits: 4+4
Physical & digital infrastructure: • Cameras: 8• Traffic detection: 100 sensors• Variable message signs: 7• C-ITS G5 service: 10 RSUs• DATEX II interface
Road infrastructure support levels
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
CSTATUS QUO OF TEST TRACK GIRONA/SPAIN (ABERTIS)
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STATUS QUO OF TEST TRACK ALP.LAB/AUSTRIA (ASFINAG)Road infrastructure: • Length: 23 km• Lanes: 3 + 3• Intersections: 2• Exits: 2
Physical & digital infrastructure: • Cameras: 22• Radar sensors: 3• Traffic detection: 8 Gantries with traffic
detection• Variable message signs: 12• C-ITS G5 service: 12 RSUs• DATEX II interface Road infrastructure support levels
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
B
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CONCLUSION
• Road infrastructure can provide additional information for on-board decisions of CAVs
• A classification of infrastructure support is needed common understanding between OEMs, automotive industry and road operators More use-cases have to be defined to understand the potential of ISAD in mixed traffic
Road infrastructure support levels 11
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
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OPEN DISCUSSION
Anna Carreras and Xavier Daura
Jacqueline Erhart and Stefan Rührup
Road infrastructure support levels
ISAD = Infrastructure support levels for automated driving
This project has received funding from the European Union’s Horizon 2020 research and innovation programme
under grant agreement No 723016.
Urban area
VMS
VMS
VMS
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INFRAMIX ACTIVITIES DURING ITSWC
• “HOW ROAD INFRASTRUCTURE CAN SUPPORT THE TRANSITION TO AUTOMATION AND THE COEXISTENCE OF CONVENTIONAL AND AUTOMATED VEHICLES ON THE SAME NETWORK”, Wed 19 September 10:30-11:00 at the EC stand (C2-060), Exhibition Area.
• “TM 2.0 AND HYBRID INFRASTRUCTURE AS ENABLERS FOR MAAS IN THE CONTEXT OF AUTOMATED TRANSPORT”Thu 20 September 13:30-15:00, Auditorium ViennaParticipation of ICCS, Autopistas and AustriaTech(INFRAMIX Consortium).
• Information available at the ITS Austria booth (C2-062), Exhibition Area.
13
C2-060
C2-062
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14
Jacqueline ErhartASFINAG Maut Service GmbHJacqueline.Erhart@asfinag.at+43 664 60108 12457
mailto:Jacqueline.Erhart@asfinag.at
Road infrastructure support levels for automated driving Automated Driving in Mixed TrafficVehicles’ perception in �Mixed trafficRoad Operator informationAutomated Driving Manoeuvers IN Mixed TrafficInfrastructure Support Levels - ApproachInfrastructure Support Levels for Automated driving (ISAD)ISAD on Schematic Road segmentStatus Quo of TEST TRACK GIRONA/SPAIN (ABERTIS)Status Quo of TEST TRACK ALP.Lab/Austria (ASFINAG)ConclusionOPEN DiscussionINFRAMIX activities during ITSWCFoliennummer 14
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