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The Role and Design of V2X Communications for Automated Driving

The Role and Design of V2X Communications for Automated Driving. Gaurav Bansal Toyota InfoTechnology Center, USA Mountain View, CA gbansal@us.toyota-itc.com IEEE Workshop on Autonomous/Connected Vehicles January 13, 2016. Rapid Vehicle Communications May Bring Major Benefits

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The Role and Design of V2X Communications for Automated Driving

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  1. The Role and Design of V2X Communications for Automated Driving Gaurav Bansal Toyota InfoTechnology Center, USA Mountain View, CA gbansal@us.toyota-itc.com IEEE Workshop on Autonomous/Connected Vehicles January 13, 2016

  2. Rapid Vehicle Communications May Bring Major Benefits To 6M+ Annual US Crashes Good Communications Will Help Create Automated Solutions - Car to Car - Car to Infrastructure - Car to Cloud Reference: FHWA-SA-10-005

  3. Collision Avoidance: What if …? Intersection Warning Blind Spot Caution Forward Collision Warning Legend:: Message Transmission (range 100s meters) In-Vehicle Warning Vehicle heading

  4. Communication Advantages intersection state Packet header Frequent broadcasts 360 Degree dissemination My vehicle state Packet header My vehicle state Packet header Autonomous Radar • Contrast radar and V2X reflection • Long Range • Communication with non-nearest neighbors • Non Line-of-sight capability

  5. DSRC Technology • DSRC: Dedicated Short-Range Communication • Ad hoc networking technology that allows vehicles to communicate with each other, roadside devices, pedestrians, bicycles, trains, … • An active research for many years • Moving toward deployment • Many stakeholders in US and elsewhere

  6. Automated Car • Many companies (including Toyota) are working on technologies for building an automated car – a car capable of sensing the environment and navigating without human input.

  7. V2X Communications as an important sensor in Automated Cars for: • long range sensing • non line-of-sight capability • collaborated driving V2X Communication Automated Car

  8. Automated Driving Use Case Building (NLOS obstruction) Non-line-of-sight (NLOS) obstacles are a major challenge for automated vehicles, especially at intersections Sharing sensor information can improve an automated vehicle’s awareness of potential hazards, including pedestrians, bicyclists, other vehicles, road works …

  9. Automated Cars should also transmit other object information GPS information per DSRC safety communications For automated driving GPS information per DSRC safety communications Object information Cars, pedestrians, potholes, signs etc.. Notices on the map using its local sensors (camera, radar, lidar etc.) Current information +

  10. Proposed System Model • Communication should collaborate with other sensors (cameras, radars etc.) in building the real-time map of the road

  11. Present day DSRC We set-up NS-3 simulations • Total length of the highway = 4Km • Number of Cars on the road = 100 per Km • Power = 500 m transmission range • Message rate = 10 Hz Packet Size Calculations DSRC safety message = 350 Bytes Automated driving message = 350 + x*50 bytes x represents how many other objects vehicle is observing from local sensors 50 Bytes represent an estimate of object information

  12. Numerical Results • CBP = Channel Busy Percentage (a measure of wireless channel load) Channel Busy Percentage (in %) Channel gets Saturated Packet Size = 350 Bytes; x = 0 Packet Size = 2350 Bytes; x = 40 Adaptive Content Control for Communication amongst Cooperative Automated Vehicles Fanaei, Tahmasbi-Sarvestani, Fallah, Bansal, Valenti, Kenney, IEEE WiVEC September 2014.

  13. Proposed System Model(2) CSAM: Cooperative Situational Awareness Message Latest map information collected by Radar, Camera etc., and communication messages received over-the-air

  14. Communication Module Data to Be Broadcast Communication Rate Communication Module Data From Other Vehicles Communication Power Multi-Resolution Data Processing Module Message Content Network Performance Feedback Innovative solutions for setting power, message rate, message content are required

  15. Adaptive Content Control • Message size is derived so that the measured load of the network remains within a desirable range. • Determine the number of known and unknown objects • Distance-sensitive forwarding: For a fixed message size, the content of the message is chosen probabilistically • Information of objects closer to the sender are included in the message with a higher probability. • Don't re-transmit the data for objects that has been recently broadcasted on the channel

  16. Results Should be further optimized with joint rate, power and content control Adaptive Content Control for Communication amongst Cooperative Automated Vehicles Fanaei,Tahmasbi-Sarvestani, Fallah, Bansal, Valenti, Kenney, IEEE WiVEC September 2014.

  17. Key Takeaways • V2X Communication is an important technology for reducing vehicle crashes • DSRC moving close to deployment • V2X can play a significant role in automated driving • Innovative algorithms for automated driving communications are required

  18. Questions? Thank You

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