"Connected, Cooperative and Automated Driving" Update of ERTRAC Roadmap - Armin Gräter, Eckard Steiger, Manfred Harrer, Mats Rosenquist ERTRAC ...
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“Connected, Cooperative and Automated
Driving” Update of ERTRAC Roadmap
Armin Gräter, Eckard Steiger, Manfred Harrer, Mats Rosenquist
ERTRAC Annual Conference 2 July 2021
2 02.07.21 www.ertrac.org
CAD Roadmap version 9.0 – for ITS World Congress!
• Focus on the scope on Enablers of Connected Cooperative
Automated Driving.
• Deeper dive into five domains and their use cases for people and
goods mobility:
– Confined Areas à Urban Mobility
– Corridors à Highway Automation
– Rural Automation steps
• Connect to the CCAM Partnership Strategic Research and
Innovation Agenda and provide an EU wide overview (and
beyond).
• Stronger cooperation model needed between Vehicle Industry,
Communication Industry and Road Operators.
3 02.07.21 www.ertrac.org
CCAD Roadmap working structure
Chapter Title Lead Editor Peer-Review Supporter Supporter Supporter Supporter
1 Scope and Objectives, Vision 2050
All modes have their role (individual/shared/rail/ship/air) Armin Graeter Xavier Aertsens Ingrid Skogsmo Bastiaan Krosse Svenja Hainz
All vehicles have automation but in different levels Armin Graeter Xavier Aertsens Gereon Meyer
Societal Goals are all addressed by CCAD in the context of the EC vision Armin Graeter Xavier Aertsens Ingrid Skogsmo Thomas Seitz Stephane Dreher
1.1 Challenge AI / Ethics / Data Armin Graeter Luisa Andreone Margriet van Schijndel Thomas Seitz
1.2 Challenge validation methods (Scenario Databases) Peter Urban Benoit Vanholme Bastiaan Krosse Svenja Hainz
1.3 Challenge infrastructure support Manfred Harrer Peter Urban Risto Kulmala Torsten Geissler Svenja Hainz Bastiaan Krosse
2 Agenda 2030
2.1 Confined Autonomy Mats Rosenqvist Eckard Steiger Bastiaan Krosse
2.2 Assisted Corridors Mats Rosenqvist Manfred Harrer Bastiaan Krosse Torsten Geissler
2.3 Highway Automation Armin Graeter Manfred Harrer Luisa Andreone Torsten Geissler
2.4 Urban Autonomy Eckard Steiger Armin Graeter Ingrid Skogsmo Svenja Hainz Gereon Meyer Thomas Seitz
2.5 Rural Assistance Peter Urban Benoit Vanholme Ingrid Skogsmo Torsten Geissler
3 Outlook 2040
3.1 Corridors and Highway grow together Armin Graeter Mats Rosenqvist Risto Kulmala Torsten Geissler Peter Urban
3.2 Confined areas grow and merge into full Urban Autonomy shuttles and delivery Armin Graeter Mats Rosenqvist Bastiaan Krosse Thomas Seitz Peter Urban
3.3 Rural Autonomy will expand on specific tracks and within the settlements Armin Graeter Mats Rosenqvist Ingrid Skogsmo Torsten Geissler Peter Urban
4 Enablers
4.1 Vehicle/Infrastructure/Validation Enablers Peter Urban Manfred Harrer Risto Kulmala Philippe GougeonTorsten Geissler Svenja Hainz
4.2 Key Enabling Technologies Eckard Steiger Margriet van Schijndel Gereon Meyer Philippe GougeonManfred Harrer Svenja Hainz
4.3 Technical standardization: ISO vs. regional standards Armin Graeter Torsten Geissler Bastiaan Krosse
4.4 Regulation: deeper overview, as many initiatives under way Armin Graeter Torsten Geissler EC: Geert, Antony Thomas Seitz
5 Projects
5.1 European research projects Stephane Dreher Mats Rosenqvist
5.2 European initiatives Xavier Aertsens Gereon Meyer Stephane Dreher Torsten Geissler Marzena Jougounoux
5.3 EU Member States initiatives Stephane Dreher Gereon Meyer Risto Kulmala Manfred Harrer Xavier Aertsens Marzena Jougounoux
5.4 Initiatives around the world Gereon Meyer Stephane Dreher Armin Graeter Thomas Seitz
4 02.07.21
Key messages - structure of roadmap
(1) Vision 2050
Specific automation domains have linked/combined, transport modes are synchronized
(2) Agenda 2030
Separate domains develop and offer a large variety of use cases
(Decade of co-creation research and technology)
(3) Outlook 2040
Use cases widen up and grow together
(Decade of maturity, bringing benefits to society in larger scale)
(4) Enablers: Strong interaction between Technologies, Infrastructure and Transport / Traffic /
Fleet Management
(5) International comparison: update since 2019
5 02/07/2021
(1) Vision 2050.
Societal Goals are all addressed by CCAD in the context of the EC vision (multitude of societal targets)
Vision 2050: Specific automation domains have linked/combined, transport modes are synchronized/connected/linked to fit best any travel
needs, seamless transportation serving the mobility demand at the right time and place fulfilling user needs.
All modes have their role (individual/shared/rail/ship/air), “coopetition” of public and private transport in a regulatory framework (transport
management system) which supports the regional and societal transport targets, more like a merger of road transport modes with new road
vehicle concepts, also linking goods and people transport.
Compensating less flexibility of rail/ship/air in comparison to road, complimentary approach with rail roadmap.
Connectivity is fully available on the relevant road network and transport management system with appropriate quality of service level, also
for remote operation.
All new registered vehicles have automation but in different levels (assisted, automated (almost all on highways), autonomous (almost all
multi-seated and transport vehicles in cities). Off-Road and Construction segment: completely unmanned operations arise.
Opportunity: if automation system is very high share in traffic, could the whole system develop itself (top down control architecture in
selected areas), systemic approach.
Over time mix of vehicle automation will change, two-wheelers and oldtimers will still be there, social limitation
of cheap used cars.
6 02/07/2021
(1) Survey other roadmaps
Other roadmaps discussed
• ACEA
• C2C
• C-V2X from 5GAA
• US CAR research
• UK Zenzic
• Ecorsys study
7 02.07.21
(1) Key Challenges 2050.
Technological maturity
Sensor merging / perception generic hardware, e/e architecture simplification
Validation methods
Scenario databases, incl. remote operation transport system approach also for system
validation, always needing updates referring to the change of automation mix on the road.
AI (Ethics, Data)
Extended horizon, aligned with KDT and AI partnerships (no focus on mobility though)
New testing approaches for non predictable systems, distribution of intelligence (on/offboard,
transport mgt)
All vehicles / infrastructure / transport mgt learn new situations, but software upgrade based on
this only after safety release by engineers, coordinated upgrades of all road transport agents
8 02/07/2021
(1) Key Challenges 2050.
Infrastructure
• Investment on infrastructure necessary to cover different demands from
different vehicle fleet, as mixed traffic situation becomes much more complex
• ODD / ISAD / Functional Safety for the whole transport system
(Infrastructure, vehicle, Transport management)
• Connectivity for IT infrastructure with edge computing at the roadside
(decentralized transport management systems for cooperative multi-fleet-
management)
9 02/07/2021
(1) CCAM will support improving / shifting / avoiding 10 02.07.21
(2) Agenda 2030:
Separate domains develop and offer a large variety of use case
Decade of co-creation research and technology)
a. Highway Automation and Assisted Corridors - will enable hub2hub truck operation and
cooperative assistance with strong infra support, will show more and more mastering speed
with selected infra support to enrich the ODD for cars and trucks including platooning
b. Confined Autonomy - will show more and more mastering complexity, main use cases are
parking, separate lanes, hub-internal mobility,
highway construction sites with strong infra support
c. Urban Autonomy - will master complexity with growing speeds and so enable wider ODDs
in unrestricted mixed traffic
d. Rural Assistance with first Autonomy approaches - will realize safety benefits to all and
enable autonomous shuttles in sparsely populated areas on specific tracks and first
autonomous municipal and delivery services
12 02/07/2021(2) Domain canvasses 2030 – Assisted Corridors / Highways
Use Cases
Traffic Jam Chauffeur: L3 in traffic jam up to
60km/h, following vehicle in front, optionally
with lane change. System can bring vehicle to
safe stop.
Highway Chauffeur: L3 on highway up to
130km/h, including lane change. System can
bring vehicle to safe stop on emergency lane
Safe Auto-follow: L4 on highway up to
130km/h. No driver intervention needed.
Hub-to-hub transport: L4 transport between
terminals/hubs in selected supervised
corridors.(2) Domain canvasses 2030 – Assisted Corridors / Highways
Description Use Cases Standardisation
Assisted Corridors with specific traffic needs Traffic Jam Chauffeur: L3 in traffic jam up to Connectivity Interfaces V2X.
for enhanced safety and efficiency 60km/h, following vehicle in front, optionally Functional Safety of Infrastructure
improvements for better network utilization. with lane change. System can bring vehicle to Common evaluation of perception
Cooperative driver assistance V2X and L0-L2 safe stop. performance (vehicles and infra)
automation. L3/L4 possible depending on Highway Chauffeur: L3 on highway up to Rules and priciples for „safe stop areas“ (e.g.
regulation and technology maturity. 130km/h, including lane change. System can ethic dimensions using emergency lanes –
bring vehicle to safe stop on emergency lane what if an accident occurs and „safe stopped“
Safe Auto-follow: L4 on highway up to vehicles occupy the lane. What happens in the
Motivation 130km/h. No driver intervention needed. “safe stop area“?
Improve traffic flow on selected corridors (i.e. Hub-to-hub transport: L4 transport between
highway). Improved safety with distance, terminals/hubs in selected supervised Regulation
maneuver and speed management. Reduced corridors. Safe operation in Assisted Corridors
driver workload. L2 level minmum, enabler for
L3 where possible and L4 when required.
Much quicker introduction of L4 possible, due
to reducing risks by other traffic participants
Vehicle Enablers Infrastructure Enablers Validation Enablers Societal benefits,
Increasing L2, L3 and L4 enabler Realtime Traffic control. C-ITS Functional Safety of the whole Demonstrations
capabilities. Parameters for enabled adequate connectivity traffic system Demonstration in selected
„realtime“ reaction on baseline quality. Infrastructure safe-zones Efficient validation toolchain corridors to provide evidence for
CCAD safety functions. available (e.g. hard-shoulder) societal and users benefits(2) Domain canvasses 2030 – Confined Autonomy
Use Cases
L4 Car valet parking L4 to improve convenience
and parking facility efficiency
L4 Shuttles in lower speed in restricted areas
without safety driver (remote surveillance) for
people and freight.
L4 Bus self manouvering in depot operation to
improve safety and productivity
L4 Unmanned truck/trailer operation in-
Terminal/Hub to improve productivity and
safety(2) Domain canvasses 2030 - Confined Autonomy
Description Use Cases Standardisation
Confined areas: surrounding under control, no L4 Car valet parking L4 to improve convenience High Connectivity and C-ITS Interfaces
or controlled mixed traffic, specific use cases and parking facility efficiency Functional Safety of Infrastructure
depending on area. L4 Shuttles in lower speed in restricted areas Traffic control and surveillance
Lower speed and no or limited VRU presence. without safety driver (remote surveillance) for Common evaluation of perception
Typical examples; Closed parking areas, well people and freight. performance (vehicles and infra)
structured residential lanes, logistics terminals L4 Bus self manouvering in depot operation to
and bus depots. improve safety and productivity
L4 Unmanned truck/trailer operation in-
Motivation Terminal/Hub to improve productivity and Regulation
Early introduction of L4 possible to achieve safety Operation in confined area but under traffic
reduced risks for other traffic participants. rules
Lower vehicle speed and ODD complexity
enables deployment based on available
technologies.
Vehicle Enablers Infrastructure Enablers Validation Enablers Societal benefits, Demonstrations
L4 capable vehicles with Realtime Traffic control. Functional Safety of the Potential to increase user and society
parameter setting High bdwith low latency connectivity (e.g. 5G) whole traffic system acceptance of safety, ressource-
Realtime reaction on Perimeter safety control (e.g. fence&geofence) Efficient validation efficiency and benefits of L4 vehicles.
connected safety Acceptable performance in non-perfect toolchain Demonstration of perceived
functions conditions (e.g. 4G) usefulness.(2) Agenda 2030: Domain canvasses 2030 - Example: domain Urban
Use Cases
L4 Car valet parking L4 to improve convenience
and parking facility efficiency.
L4 Shuttles in lower speed in restricted urban
areas without safety driver for last mile
transport of people.
L4 Delivery Shuttles in lower speed in
restricted urban areas without safety driver for
last mile transport of goods.
L4 Bus-like transport of people on pre-defined
routes
L4 Taxi-like transport of goods and people in
urban areas on defined net(2) Domain canvasses 2030 – Urban
Description Use Cases Standardisation
Urban areas: mixed traffic, VRU presence, large L4 Car valet parking L4 to improve convenience Test procedures / rankings.
variety and complexity of ODDs; specific use and parking facility efficiency. User interfaces (minimum information
cases depending on area. L4 Shuttles in lower speed in restricted urban provision).
Lower speed. areas without safety driver for last mile Specific PDI support requirements for urban
Typical examples; automated valet parking, transport of people. traffic.
shared or public urban shuttles, taxi-like ser- L4 Delivery Shuttles in lower speed in Functional Safety of infrastructure (examples:
vices for individual transport, delivery services restricted urban areas without safety driver for “digital traffic light”, “digital diagonal cross”).
last mile transport of goods.
Motivation L4 Bus-like transport of people on pre-defined Regulation
Improve safety. routes - alignment of L4 regulation
Complement public transport. L4 Taxi-like transport of goods and people in - Incentives for increased market up-take
Cost efficiency urban areas on defined net - Streamlining and harmonization of
Increase inclusion: mobility for all. exemption procedures for L4 FOTs / Living
Lower vehicle speed enables early deployment Labs
based on available technologies.
Vehicle Enablers Infrastructure Enablers Validation Enablers Societal benefits, Demonstrations
L4 capable vehicles Vehicle control center. Functional Safety of the Potential to increase user and society
supported by V2X. Tele-operating. whole traffic system acceptance of safety, ressource- & cost-
Fleet management. High bandwith low latency connectivity (e.g. Efficient validation efficiency and benefits of L4 vehicles in
Vehicle control center. 5G). toolchain. urban traffic.
Demonstration of perceived
usefulness.(2) Agenda 2030: Domain canvasses 2030 - Example: domain Rural Roads
Use Cases
L0 safety systems, e.g. automatic emergency
braking, lane departure warning etc.
L1 driver assistance, e.g. adaptive cruise
control
L2 partial automation, e.g. automated obstacle
avoidance
L4 shared and/or public shuttle services
operating on pre-defined routes in sparsely
populated areas
L4 municipal services, e.g. refuse collection
L4 delivery services with very compact vehicles
(e.g. delivery robots)
L4 agricultural transport complementing
automated field work(2) Domain canvasses 2030 – Rural Roads
Description Use Cases Standardisation
Rural roads have mixed traffic (incl. wildlife etc.), L0 safety systems, e.g. automatic emergency - Test procedures / rankings
relatively high speeds (v ≤ 110 km/h), braking, lane departure warning etc. - User interfaces (minimum information
typically oncoming traffic, L1 driver assistance, e.g. adaptive cruise provision)
large variation in road infrastructure conditions. control - Specific PDI support requirements for rural
® Two-step approach L2 partial automation, e.g. automated obstacle road network
1. Market up-take + extending functionalities of avoidance Standardisation should cover the entire lifecycle,
L0-2 L4 shared and/or public shuttle services in particular maintenance of PDI support systems.
2. R&I, FOTs and Living Labs on L4 operating on pre-defined routes in sparsely
populated areas Regulation
Motivation L4 municipal services, e.g. refuse collection - Worldwide alignment of existing regulation
- Improve road safety: L4 delivery services with very compact vehicles - Incentives for increased market up-take
54% of EU road fatalities occur on rural roads (e.g. delivery robots) - Streamlining and harmonization of exemption
® High effect of low-cost L0-2 systems L4 agricultural transport complementing procedures for L4 FOTs / Living Labs
expected automated field work
- Ensure inclusive mobility for all:
More cost-efficient service provision by L4 Usage Enablers (L4) Societal benefits
vehicles particularly in sparsely populated Ticketing and business models/cases, information systems - Highest potential in improving
areas (reduced labour costs) safety and reducing related costs
- Enhancing rural quality of life
Vehicle Enablers Infrastructure Enablers (mainly L4) Validation Enablers ® Counteracting depopulation
- Constantly improving - Availability of up-to-date HD - Increased use of virtual Demonstrations
environment perception at maps of rural road network validation methods for cost - Early deployment of L4, incl.
decreasing costs - Real-time traffic information reduction usage enablers, in transport and
- Ability to cope with limited PDI incl. precise local weather - Integration of critical scenarios municipal services extending
support incl. bad road surface & conditions (incl. edge cases) specific to from urban into rural areas
poor maintenance conditions - Reliable connectivity rural roads in EU scenario(3) Outlook 2040:
Use cases widen up and grow together
Decade of maturity, bringing benefits to society in larger scale.
a. Corridors will enable more and more use cases on highways to master speed challenges. After
enabled corridors, standards deploy for highway ISAD applications
b. Low Speed use cases will evolve and combine to master traffic complexity challenges. Confined
areas grow and merge into full Urban Autonomy shuttles and delivery. Various use cases from
confined to urban will receive market penetration
c. Rural Autonomy will expand on specific routes reaching out to settlements
Challenges to bring it to high penetration
- public procurement
- AI/ethics in decision making
- not only sales but usage!
22 02/07/2021(3) Outlook 2040: after enabled corridors, standards
deploy for highway ISAD applications
Hands-off / Eyes-off PLUS
Hands-off / Eyes-off lite
Hands-off / Eyes-on
Driving Assistance Safety
Driving Assistance Comfort
rt
tructure Suppo maturity
Boost via Infras
Driving mostly automated, attention Transport of goods and people along Transport of goods and people on
Slow, e.g. during Traffic Jams Safety relevant assistance during driving
still required highways, mostly right lane highways(3) Outlook 2040: various use cases from confined to
urban will receive market penetration
Taxi-like
Bus-like
Residential
Red Carpet
Restricted
L4 maturity
Transport of goods and people on Transport of goods and people in
Transport of goods, parking Transport of goods Last mile transport of goods and people
pre-defined routes urban areas
Up to 25 kph 25 up to 50 kph Up to 30 kph Up to 50 kph Up to 50 kph
Private, gated area, one-lane road – Well structured residential lane that Mixed traffic lane on primary and
Dedicated lane on primary road Complex urban road net
valet parking (today limited 10kph) guarantees lane driving well-structured secondary roads
User/
Society Convenience and Productivity Improved network efficiency Convenience and Productivity Transport operator driven Convenience and Productivity
Benefit
In 2040 highly available at Partly depending on needs and In 2040 in use depending on
Penetration terminals/hubs/parking regulation
User/Market driven
cost/benefit/needs/regulation
User/Market demand driven
Predefined routes Flexible routes on defined net
„simple“ safety concept full high complexity/low speed automated driving safety concept(3) Outlook 2040: large variety of use cases
Automated Driving Matrix Most complex scenario:
Bus-like
Taxi-like high speed on rural roads
Residential
Red Carpet
Restricted
maturity
enable safe automation for rural
roads also including oncoming traffic
Flexible routes
Predefined routes
on defined net
Gardening (robot mower on road
Complexity of Traffic Scenario
„simple“ safety concept full high complexity/low speed automated driving safety concept
shoulders), Winter service
Maintenance vehicles & highway safety trailers
Hands-off / Eyes-off PLUS
Hands-off / Eyes-off lite
Driving Assistance Safety Hands-off / Eyes-on
Driving Assistance Comfort
maturity
Maintenance rt
a Infrastructure Suppo
vehicles w/o B o o st vi
traffic at all Routes on highways (separated carriageways), possibly with lane restriction Flexible routes on highways
„simple“ safety concept full highways automated driving safety concept
Driving SpeedSource: safety trailer
(3) Outlook 2040: examples on © ASFINAG
special applications for
highway use cases
Seite
26 Source: H2020-INFRAROB project (©ASFINAG)(4) Strong interaction between Technologies, Infrastructure
and Transport / Traffic / Fleet Management
Part I:
• Intro: Vehicle and PDI where are we? (Key Vehicle and PDI enablers,
Telco/Connectivity Infrastructure, IoT)
• Basic approach should include:
– Infrastructure enablers phys+dig, digital twin, ISAD
– Digital HD maps
– Functional safety in the whole system
– Quality of service to support
– Integration of Traffic Management is key:
• Common architecture, SW/HW codesign, integrated Cybersecurity
• Mobile edge computing and AI
• Following concrete examples
27 02/07/2021(4) CCAM optimising Fleet & Traffic Management
• Individual traffic regulations with fine granularity for special vehicles / vehicle categories
• Infrastructure support for vehicle maneuvers
28 02.07.21(4) ODD and ISAD
• Benefits of autonomous driving occur only where the requirements of the
Operational Design Domain (ODD) are met
• The physical and digital infrastructure (PDI) determines the availability of
many of the key attributes of the ODD
• To classify and harmonize the capabilities of a road infrastructure to support
and guide automated vehicles, an ISAD (Infrastructure Support levels for
Automated Driving)
classifications has
been proposed and
further developed by
European and
national projects
29 02.07.21(4) Functional Safety
• Bringing the automotive and infrastructure domains into a single safety-
critical system, will extend the perception horizon of self-driving vehicles.
• Usage of sensor fusion on the edge and C-ITS technology to provide
safety-relevant information about perceived objects and enable vehicles to
manage challenging highway scenarios.
• Trade-off between latency and channel capacity has to be addressed.
• The approach is based on successful historic precedence: in aviation,
airplanes and traffic control infrastructure were fused into one functional
safety system in the 20th century!
30 02.07.21(4) Collaboration and Sharing in Data Ecosystems
MEC=Mobile Edge Computing
31 02.07.21(4) Strong interaction between Technologies, Infrastructure
and Transport / Traffic / Fleet Management
Part II:
AD: Data-driven complex SW-systems w/ high safety
requirements
à DevOps loop
à fleet operation
à continuous function improvement & field updates
Updates
à virtual validation
Over the air
How to achieve this?
à cooperation models between sectors
à Technical standardization: ISO vs. regional standards
(USA, China)
à Regulation: technical framework (UNECE, national)
Political Outlook:
à other EU Initiatives, economic framework for society,
incentives
32 02/07/2021(5) European research projects 33 02/07/2021
(5) European initiatives
1. EU policies:
– Mobility Package, with “On the road to automated mobility: an EU strategy for
mobility of the future”, and Smart and Sustainable Mobility Strategy
– EU Digital Strategy => CCAD embedded into and benefiting from digitalisation
– European Green Deal => CCAD including environmental objectives
– CCAM Single Platform
2. EU instruments:
– Horizon Europe programme with new Partnership on CCAM
– Related HE Partnerships: KDT, SNS, AI-Data-Robotics, DUT + Cities Mission
– GEAR 2030 and IPCEIs: Important Projects of Common European Interest
– ITS Directive and C-ITS
– CEF and C-Roads
– Other funding instruments: Digital Europe, ERDF, Interreg
3. Coordination and Support Actions: ARCADE, COSMOS, FUTURE-HORIZON
34 02.07.21(5) trans-/international, member states activities
5.3 Not-EU but transnational activities, Member States activities:
CEDR, High-Level MS meetings, Nations reports
5.4 Initiatives around the world
Focus Regions:
USA, China, Japan, South Korea, Canada, Australia, Singapore, Russia, India
Key Questions:
• What are the country’s main strategies, goals and achievements in CAD?
• What (public/private) R&I programs and projects are being funded on which topics of CAD?
• Who are program owners and what are the funding budgets?
• What were the impacts of COVID-19 on the CAD funding ecosystem?
• What other actions (legislation, standardization..) are being taken?
Sources:
Trilateral Working Group CAD
Future Horizon Project
Local Contacts of ERTRAC Members
35 02/07/2021(5) trans-/international, member states activities
Highlights:
Cloud-based pilot
for selfdriving
vehicles in Beijing
in 2021
Quickly
developing
legislation at
Tokyo
state level
Waterfront FOT
extended until
2022
ITS Action Plan 2020-25:
Safe, interoperable,
efficient integration of CAD 1bn $ public
invenstment in
commercializatio
n of level 4
End-to-end
regulatory
framework for
safe CAD
36 02/07/2021Thank you for your support in updating the roadmap! 37 02.07.21 www.ertrac.org
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