safe road trains for environment tom robinson.pdf · sartre involves iterations of a complex matrix...

© Ricardo plc 2012SARTRE 6 016 PU

Tom Robinson – Ricardo

SAFE ROAD TRAINS FOR ENVIRONMENT:Introduction to SARTRE for IRSE

The research leading to these results has received funding from the EuropeanCommunity's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 233683.

2© Ricardo plc 2012SARTRE_6_016_PU10 May 2012, SARTRE IRSE IntroductionConfidentiality: Public

SARTRE Is An EU FP7 Project Scheduled To Complete By November 2012

Call Identifier: FP7-SST-2008-RTD-1 Sustainable Surface Transport - Activity: ”Encouraging step changes / radical technology changes”

SARTRE Objectives:– Define a set of acceptable platooning strategies that will allow road trains to operate on public

highways without changes to the road and roadside infrastructure– Enhance, develop and integrate technologies for a prototype platooning system such that the

defined strategies can be assessed under real world scenarios (5 vehicle platoon demonstrator)

– Show how the use of platoons can lead to environmental, safety and congestion improvements– Illustrate how a new business model can be used to

encourage the use of platoons with benefits to both lead vehicle operators and to platoon subscribers

Programme started 1st September 2009– Due to complete by November 2012

€6.4 million funding of which the EU contribution is 60%


Platooning Provides An Opportunity To Improve Fuel Consumption, Safety and Congestion

PATH Truck Platoon Fuel Savings Datafrom Scale Model Wind Tunnel Tests (Cab-over engine shape)and full-scale tests of two trucks in 2003 (engine forward shape)

Fuel improvements from reduced drag– Minimise distance between

vehicles for maximum improvement

Additionally - Improved Driver Convenience

Safety improvements from autonomous control– Drivers contribute to > 87% of road fatalities

Congestion improvements from smaller time gaps and autonomous control– Delayed traffic collapse– Reduced traffic dynamics


SARTRE Has 7 European Partners From 4 Countries

Ricardo (Great Britain)– “high value engineering services to the automotive, ITS

and clean energy communities ”

Volvo Personvagnar (Sweden). – “a major passenger car OEM”

Volvo Technology (Sweden), – “a major trucks, buses and construction equipment OEM”

SP Sveriges Tekniska Forskningsinstitut (Sweden), – “a research institute experienced in automotive safety and

communication ”

Institute for Automotive Engineering (ika) of RWTH Aachen University (Germany)– “a leading university in automotive technology ”

TECNALIA (Spain)– “an expert technology centre specialising in ICT”

IDIADA Automotive Technology (Spain), – “a world-leading company for automotive testing and

demonstration ”

Sensors

Embedded Systems

Risk Analysis Car Bus/Truck

Preventive Safety

Modelling

Human Factors

Back Office

AutonomousControl

BusinessCommunication


There Are 6 Work Packages With Each Partner Having Clearly Defined Roles Within These

• Coordinator and Management WP leader• Safety Analysis• Platoon Management & Autonomous Control

• Implementation WP leader• Following vehicle lead• Vehicle (car) sensor fusion

• Lead vehicle lead• Vehicle (truck) sensor fusion

• Dissemination WP leader• Use case lead• V2V communications

• Concept definition WP leader • Traffic Modelling lead • Back office and organisation assistant

• Human factors assessment• HMI design and implementation

• Validation/Assessment work package leader • Test lead• Road trial lead

WP1 M

anagement

WP6 D

issemination


SARTRE Involves Iterations Of A Complex Matrix of Interdependent Tasks

Human factors– System Operation – Perception by other road users– Business case

Maintaining Safety– IEC 61508 & ISO 26262

Impact on Traffic Flow

Interaction With Other Road Users– Strategies for Platoon Management

Legislation– Vienna Convention

Also Technology Readiness!

Developing a 5 vehicle demonstrator

Consider platoon concept roadmap

Location Module (IKA)

Communications Module

V2I (IKA)

V2V (SP)

Sensor/Actuation Module (OEMS)

Sensors

Actuators

rCube Control/Safety Module (Ricardo)

Vehicle Control

Platoon Manager

HMI Module

Display (IKA)

InCar PC (IKA)

Audio (Tecnalia)

Haptic (Tecnalia)

Enhanced GPS

Antennae

CAN Converter (IKA)Controller


SARTRE Has Defined A Number Of Terms To Ease Communication Externally and Internally

FV

Autonomous/Automated

LV

PFV

OV

PFV/PLV

Platoon

FV FV

PV

PPV

Other Vehicle (OV) Potential Platoon Vehicle (PPV) = Potential Lead Vehicle (PLV) OR Potential Following Vehicle (PFV). Platoon Vehicle (PV) = Lead Vehicle (LV) OR Following Vehicle (FV).


SARTRE Use Cases Include Back-Office and Platoon Use Cases

Significant number of factors– Performance/Failure of vehicles, Braking / acceleration / turning procedure, Human

behaviour, Other Vehicles, Platoon size, Gap size ….

Other Vehicle Tries to Enter Platoon

Truck Joins Platoon

Car Joins Platoon

Truck Joins Platoon From FrontCar Joins Platoon From Rear

Car Leaves Platoon

Truck Leaves Platoon

Truck Leaves Platoon From FrontCar Leaves Platoon From Rear

FV/LV

PFV/PLV

FV

PFV

OV


Use Cases Helped To Define An Initial State Diagram

Not extremesize

Minimal size:One LV, one FV Maximal size

Non existingCreate

Dissolve

Leave

Join

Leave

Join

Dissolve

Dissolve

JoinLeave

OV enters platoon

OV enters platoon

OV enters platoon

Platoon States


The Project Has Identified A Number of PlatoonPre-Requisites - 1

Emergency is defined as a possible violation of platooning principles in order to avoid an accident. Examples include:– Emergency obstacle avoidance (all

vehicles to follow the leader’s trajectory)

– A vehicle driving sideways towards a platoon vehicle

– Emergency stop (driver in LV braking maximally)

– Radio contact lost within platoon

There are no changes to road infrastructure

… limitations and requirements for motorways… from guidelines for the construction of motorways in Germany “RAS-L Richtliniezur Anlage von Straßen – Teil Linienführung”….

Motorway operation, including speeds down to 0 (e.g. traffic jams)


The Project Has Identified A Number of PlatoonPre-Requisites - 2

A minimal platoon is one LV and one FV

A platoon has a maximum size. If a PPV wants to join a platoon of maximum size, join will not be allowed

A platoon is not explicitly rearranged i.e. if no change of number of vehicles occurs then the order of FVs is the same

Dynamically varying size of gaps between vehicles in a platoon is allowed

A truck/bus is not allowed to follow a car

An FV can run at any speed from zero up to maximum speed without any driver involvement (thus automatic gearbox is required)


There Are Many Human Factors Relevant to Automated driving

SARTREHumanFactors

Acceptance and

Comfort

Situational

Awareness

Loss O

fSkil

l

Behav

ioural

Adaptat

ion/Risk

Compensa

tion

Wor

kloa

dTr

ansi

tions

To/F

rom

Nor

mal

&

Aut

onom

ous

Driver Response i.e. SystemBreakdown

Usability AndInterface Aspects

The HMI must be designed:– minimising negative impact on

safety– ensuring high level technical

performance at sustainable costs – usable, efficient, effective and

satisfactory as possible for the end-user

– adapting the technologies to different drivers

Warning messages have to be easy to understand

Visual and auditory interfaces, should be supported by alternative modalities, such as haptic signals.


Potential Future Legislative Changes May Help Mitigate Some Hazards

Driver Liability Traffic Violations

Accident & Damage Insurance

Vehicle Capabilities Maintenance

Certification of LV and Systems

Minimum Equipment Levels

Event Data Logging

Driver Capabilities LV Driver Training ,Alertness & Distractions

Traffic Behaviour OVs are Obliged To Allow Road Trains To Pass

Trucks Allowed in Outside Lane of Motorway

Dedicated lanes or hard shoulder for platooning

Relaxing of Speed Limits

Prevent OVs Moving into Platoon

Distance Between Vehicles

Others Use of radio bandwidth

Preliminary Hazard Analysis undertaken based on current understanding of Traffic Rules

Changes to Rules may affect the hazards, e.g:


Key Points From The Vienna Convention

1. Every moving vehicle or combination of vehicles shall have a driver.

3. Every driver shall possess the necessary physical and mental ability and be in a fit physical and mental condition to drive.

4. Every driver of a power-driven vehicle shall possess the knowledge and skill necessary for driving the vehicle; however, this requirement shall not be a bar to driving practice by learner drivers in conformity with domestic legislation.

5. Every driver shall at all times be able to control his vehicle or to guide his animals.

6. A driver of a vehicle shall at all times minimize any activity other than driving. Domestic legislation should lay down rules on the use of phones by drivers of vehicles. In any case, legislation shall prohibit the use by a driver of a motor vehicle or moped of a hand-held phone while the vehicle is in motion.

However, the variations in national legislation present a more significant challenge– e.g: Use of mobile phone

Will the Vienna Convention Change?


Initial Conclusions Have Been Drawn For Some Of The Challenges We Have Identified - 1

Item Issue Closing Decision

1 What is the maximum number of vehicles allowed in the Platoon?

No final decision but likely to recommend platoon is no more than 15 vehicles

2 Should a Join/Leave be allowed from the Front and Side? Join and leave should be allowed from front, side and rear.

3 Should the programme consider platoon operation in all environmental conditions?

Consider all environmental conditions

4 Does the platoon need to consider overtaking by the platoon?

We have to consider overtaking.

5 Should the platoon operate on a single lane restriction motorway

We will only consider operation on two or more lanes.

6 Should a platoon join/leave manoeuvre transition via a semi-automated (longitudinal control only) state?

Join and Leave will include a semi-autonomous state.

9 How does the platoon have to react to an OV that forces itself into the platoon?

Safely maintain the platoon around the OV for a short period of time then dissolve all FV behind the OV.

10 What frequency of dissolve and reform of platoons (temporary dissolve) is acceptable concerning the business case

People are ok with up to 3 dissolves in a period of 20 minutes.


Development Of The Demonstration System Is Nearing Completion

Car Joins Platoon From Rear

Car Leaves Platoon From Rear

Maintain Platoon

Four vehicles up to 90 Km/h, gap 5m

1 LV & 3 FV

Join, Leave & Trajectory Following (Including Disturbance)

Interaction With Other Vehicle (OV)

Discussing

Level of sensor refinement required for production

Level of redundancy required

Remaining platoon strategy issues


Work Is Commencing On Work Packages 4 and 5: Validation and Assessment

Use knowledge gained from development of demonstrator– Feed into increased understanding of road train concept requirements

Platooning Roadmap

D5.1 Report on

CommercialViability

D5.2Report on

InfrastructureAnd Environment

D5.3Summary of Policies

Recommendedto Achieve

Wider Impact

D4.3Report on

Fuel Consumption

D4.2Validation Test

Results

D3.5Functional and System Safety

Analysis

D3.1Lead Vehicle

System Specification

D3.2Following Vehicle

SystemSpecification

D2.5System

Specification

D2.4Analysis of

Human Behaviour

D2.2Modelling and

Analysis of PlatooningStrategies

D2.1Use Cases

D2.3Preliminary Safety

Analysis

D3.3Remote systemspecification andcharging system

specification

Demonstrator

WP4 - Validation– Verify demonstrator performance is as

desired– Targeting 1 day demonstration on

public highway– Measurement of fuel consumption

WP5 - Assessment– Assessment of commercial viability

• Including generation of a roadmap– Analysis of net impact on infrastructure

and environment• Including assessment of likely benefits to society (e.g. congestion, safety &

environment)


What Synergies And Crossovers Might There Be With Rail?

Train = “A long line of moving people, animals or vehicles”

Or “A series of railway cars moved as a train by a locomotive or by integral motors”

Series of Railway Cars = Truck/Coach + Following Vehicles

Moved As a Train = Platoon Management System

Locomotive = Lead Truck or Coach

Integral Motors = Vehicle Powertrains

Other Similarities– Benefits - Increased Capacity, Efficiency, – Safety, Convenience– Timetable & Scheduling– Reservations and “Ticketing”– Virtual coupling– Vehicle Automation– …

safe road trains for environment tom robinson.pdf · sartre involves iterations of a complex matrix...

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