Environmental Data Exchange in Cooperating Driving Systems DatZZ000 Datorzinātņu doktorantūras zinātniskais seminārs Aleksandrs Ļevinskis al17206

Cooperative Driving Systems

The “Inception” Patent for “Radio Warning Systems for use in Vehicles” Issued in 1925.

First Ever Self Diving Vehicle Greek inventor Hero’s “Programmable Cart” AD60

Motivation Lower human fatalities in accidents Improve driving experience Achieve partially autonomous driving Make traffic more consistent Improve intersection performance Reduce emissions (green technology)

V2V Scenarios

V2X Scenarios (cont.) Platooning Cooperative Adaptive Cruise Control

V2X Standards

ETSI C-ITS

ETSI C-ITS MAC/PHY Updated version of IEEE 802.11-2012 introduced new parameter dot11OCBActivated, allowing to turn on OCB mode for WNIC. OCB - outside the context of a basic service set (BSS). WNIC – Wireless Network Interface Controller. The side effect of this are that the BSS authentication and association procedures are removed because this is a time consuming process and in a vehicular environment where nodes are highly mobile and transactions may not be completed until the nodes are out of each other's radio ranges. The communication outside of a BSS can be thought of as ad hoc communications and should not be confused with the independent BSS network topology supported in IEEE 802.11-2012.

ETSI C-ITS MAC/PHY (cont.) To distinguish between communication within a BSS and outside of a BSS the network identification (basic service set id, BSSID) is set to a wildcard in every frame transmitted in an 802.11p communications. In other words 802.11p is a 802.11a with no BSSID feature, with narrower channels, slower data rate but more robust encoding. MAC – No Beacons and other management frames, No exponential back-off. This features makes MAC/PHY suitable for in ad-hoc network applications, e.g. as VANET (Vehicular ad hoc network) DSRC – Direct Short Range Communication

Frequency Bands

Geonetworking Network Level in OSI (IP by analogy) Four communication scenarios: Point-to-Point Point-to-Multipoint GeoAnycast GeoBroadcast

BTP Basic Transport Protocol Transportation Level in OSI model (UDP by analogy).

CAM Cooperative Awareness Message Application Level in OSI model (HTTP , FTP by analogy).

DENM Decentralized Environmental Notification Message Application Level in OSI model (HTTP , FTP by analogy).

DCC Decentralized Congestion Control DCC is a cross layer function, i.e. it has functions located on several layers of the ITS station reference architecture.

Main Thesis Motivation

Main Thesis Motivation There are self driving cars already exists and participating in traffic . However they are individual units. There is certain risk for mismatch data exploit for active sensor, like LIDAR or RADAR if many self-driving cars will appear in the same area. Using V2V it will be possible to efficiently control channels for such active sensors. Still the vast of the majority of vehicles doesn’t has connecting capability (there is no way to transmit CAM messages about self-position), by enabling fully-equipped vehicles (with V2V unit and Environmental Perception Capabilities) exchange environmental data (what it observes) it is possible to eliminate such problem.

Main Thesis Motivation (cont.) Detection and data propagation about VRUs (Vulnerable Road Users) such as cyclist, pedestrian … Better representation of road scene , which can be used for optimized path planning and emergency scenarios execution.

Data Exchange Diagram

System diagramm Embedded System OpenRex 802.11p ETSI C-ITS Perception Unit ROS Node 802.11p ETSI C-ITS ROS Node CAM messages ROS Topics

What is Done so Far Linux Kernel patching and compilation for OCB mode support. Certain manipulation done in SoftMAC. Used WLE200NX PCIe WNIC. Architecture definition. Standard Review

Work in progress… Standard review, upper levels, security, DCC. VANET deployment on embedded system. NS-3 simulations with different conditions. Article review

Publications Using virtual environment for autonomous vehicle algorithm validation  Author(s): Aleksandrs Levinskis, Tenth International Conference on Machine Vision (ICMV 2017), PROCEEDINGS VOLUME 10696, ISBN: 9781510619418

Thank you for attention!