Singapore TR 68 : 2019 - Technical Reference for Autonomous Vehicles - AWS
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Singapore TR 68 : 2019 - Technical Reference for Autonomous
Vehicles
Presentation for IDVS4, 28 Oct 2019
Niels de Boer Energy Research Institute @ NTU (ERI@N)
1 CleanTech Loop, #06-04 CleanTech One, Singapore 637141
Phone: (65) 6592 1786 / 2468 Fax: (65) 6694 6217
Singapore Urban Mobility Challenge
66%
increase in domestic travel in last 10
1/3
of the work force is over 50
55%
of bus drivers are foreigner
years
12%
of land used for roads
+ 4%
of land used for car parks
versus
14%
of land is used to house 5.5M people
There is not enough space to increase the number of vehicles at the same rate as the population growth
2 CONFIDENTIAL
Car Lite Estates
3
3 CONFIDENTIAL
4
CETRAN Centre of Excellence for Testing & Research of AVs –
NTU
Centre of Excellence to support Singapore AV
community
Standards development
Developing AV testing procedures
Perform AV testing on behalf of LTA to support issue
of AV Authorization
Technical lead in development of AV Technical
Reference
Operator of CETRAN AV Test Centre
Linking with other countries to align on standards
and testing
Supporting skills development for Industry
AV Developer support
5 CONFIDENTIAL
AV Trial Testbed @ one north
Test bed at One North as a
future proof concept for AV
testing
Infrastructure to support trials
Closed Circuit CCTV
5.9 GHz Dedicated Short
Range Communication
(DSRC) beacons
Backend system
6 CONFIDENTIAL
Milestones for AV Trials
Milestones are used to assess AVs before they are allowed to proceed to their next phase of
trial
Each milestone test will produce a test report with recommendation which is used by the Land Transport
Authority as one of the decision criteria to “pass” the AVs
Milestone 1
Ability to safely conduct
testing of autonomous vehicles
with safety driver in a small scale
testbed.
Milestone 2
Ability to safely conduct testing of autonomous vehicles with safety driver in a complex
environment.
Milestone 3
Ability to safely conduct testing of autonomous vehicles without or with a safety driver (with limited
control) in a complex environment. This implies high technical maturity.
7 CONFIDENTIAL
Milestone 1 Test Framework
Assessment of basic safe construction of vehicle
Assessment of the ability of the safety driver to conduct on road tests safely
Not a test of the driver, but controls available to the driver
Basic AV capabilities
Lane keeping / basic driving capability
Controls available to safety driver
Static obstacle
Dynamic obstacle
Circuit Based
Test
8 CONFIDENTIAL
Milestone 2 Test Framework
Assessment of basic capabilities of vehicle
Assessment of the process capabilities of the developer
Do they have processes in place to ensure that updates to the AV hardware/software is
carried out in a safe manner?
Assessment of simulation capabilities
Do they have appropriate/adequate simulation capabilities to test out their software
before deployment?
Document Circuit
Simulation Road Test
Review Based Test
9 CONFIDENTIAL
M3 assessment flow
The overall M3 test scope tailored
to the operational environment and
capabilities of the vehicle
AV developers request additional
clarification on the relationships
between milestones and test areas
in order to develop true driverless
capabilities
10 CONFIDENTIALTR-68 AUTONOMOUS VEHICLES
Technical Reference - 68
Technical
Reference (TR) is a guideline published by the Singapore standards
body Enterprise Singapore (formerly named SPRING)
Managed in a same way as a standard
Technical Committee to oversee TR
Working Groups to write/revise content
Industry participation at Technical Committee and Work Groups
TR seeks industry adoption as trial for a period of time, and comments received will be
reviewed after the trial period
TR can become a Singapore Standards, continue as TR for further industry trials or be
withdrawn
12 CONFIDENTIAL 12TR Development Guideline
Form TR Revise Establish
Establish
Development content if Singapore
TR
Workgroup required Standards
Sep/Oct 2017 ~ 202x
Releases
• First release TR-68: 2019 Release 31 Jan 2019
• Second release TR-68: 2020 Target Release Q4 2020
• Third release TR-68: 2021 Considered for release Q4 2021
13 CONFIDENTIALTechnical Reference Scope
AV Technical Reference
Basic Behavioural Vehicular Data Types and
Safety Guidelines Cybersecurity Guidelines
Guidelines Formats
Drive like a Ensure the Ensure the Talk a
safe driver system is system is common
& safe secure language
clarify rules
in Theory of
Driving
14 CONFIDENTIALPART 1 – BASIC BEHAVIOURAL GUIDELINES
Basic Behavioural Guidelines
What are they?
Rules and clarification to the driving license requirements as described in the Basic Theory of
Driving and the Final Theory of Driving
Why are they needed?
The driving rules are written for human drivers, not engineers
Because desired driving behaviour is context sensitive, the driving rules are not black or white.
“The driver shall indicate in time when changing lanes” (what is “in time”?)
“The driver shall pass a stationary object on the road with a gap of minimum 1.5m” (So if the 1.5 m gap
is not feasible, do you stop and just wait till something makes it feasible?)
With the current state of technology, some driving rules are no longer relevant or are no longer
able to be complied with. Waiting till the technology is matured might not be a realistic option.
“The driver shall follow the hand signals of an authorised officer” (if AI can recognise all hand signals,
can it differentiate between an authorised officer and a random person? And what if this random person
is a citizen taking necessary action at an accident site until the police has arrived?)
16 CONFIDENTIAL 16Challenges: what is the desired behaviour?
Y
X
Braking/detection Stop D
V zone Distance
C
B
A
Milestone 1 test
speed
X=2m
A B C D time
17 CONFIDENTIALChallenges: what is the desired behaviour?
Y
X
Braking/detection Stop D
V zone Distance
C
B
A
Gentle slowdown
Milestone 2 test equivalent to
lifting throttle
More gentle braking
speed due to slow down
(risk reduction) earlier
X=2m
A B C D time
Increased response time
18 CONFIDENTIALPART 2 - SAFETY GUIDELINES
Safety Guidelines
What are they?
Guidelines for recommended safety processes to assure the safety of systems
deploying SAE level 4 and level 5 autonomous vehicles
Why are they defined?
Capture industry best practices
Contains elements of railway practices used for assurance of driverless trains
Contains elements of aviation practices used for assurance of drones and UAVs
Especially help new entrants (start-ups and companies from non-automotive
backgrounds) to understand expectations and needs for ensuring safety of driverless
vehicles
20 CONFIDENTIALOverall approach in Goal Structured Notation format
ODD adequately
described for Autonomous Vehicles
designers of each Goal
operations are acceptably safe
class of road by design
environment
Solution
Argument
Argument that
Argument Argument that
Argument of acceptable
Argument HARA is acceptable
acceptable design evidence has been
design comprehen- evidence has been
and production provided for
suits ODD sive and provided for initial
quality continuing safety
complete safety compliance
compliance
21 CONFIDENTIALPART 3 - CYBERSECURITY
Cybersecurity Assessment - Process
System
Threat risk Threat
Architecture Intended Use
Document assessment Management
Overview
Review
Test Threat Threat Risk
Systems Inspection
Risk Analysis Analysis Process
System
Assessment
Vulnerability
Fuzz Testing Attack Simulation
Analysis
Penetration
Testing
Results Evaluations Recommendations
Report
23 CONFIDENTIALPART 4 – DATA FORMATS
24AV cosystem 25 CONFIDENTIAL 25
Message format: Abstract Syntax Notation One (ASN.1) 26 CONFIDENTIAL
Feedback on TR
Develop feedback on TR
1. Use TR content as input to milestone plan
2. Get feedback from AV developers
3. Work with AV developers to find solutions and improvements
4. Feed back recommendation to TR Working Group for inclusion in revision
Milestone Test Development
Existing standards, data and
best practices Supporting R&D
TR Working
Input to Technical Reference
Groups
Industry Feedback
27 CONFIDENTIALThank you
Energy Research Institute @ NTU (ERI@N)
1 CleanTech Loop, #06-04 CleanTech One, Singapore 637141
Phone: (65) 6592 1786 / 2468 Fax: (65) 6694 6217You can also read
