1. 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. 2 Rapid Vehicle Communications May Bring Major Benefits To 6M+ Annual US Crashes - Car to Car - Car to Infrastructure - Car to Cloud Reference: FHWA-SA-10-005 Good Communications Will Help Create Automated Solutions

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

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

5. 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. 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. 7 long range sensing non line-of-sight capability collaborated driving Automated Car V2X Communication V2X Communications as an important sensor in Automated Cars for:

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

9. 9 GPS information per DSRC safety communications Automated Cars should also transmit other object information Current information 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.) +

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

11. 11 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 Present day DSRC

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

13. 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. 14 Communication Module Communication Rate Communication Power Message Content Network Performance Feedback Data to Be Broadcast Data From Other Vehicles Multi-Resolution Data Processing Module Communication Module Innovative solutions for setting power, message rate, message content are required

15. 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. 16 Results Adaptive Content Control for Communication amongst Cooperative Automated Vehicles Fanaei, Tahmasbi-Sarvestani, Fallah, Bansal, Valenti, Kenney, IEEE WiVEC September 2014. Should be further optimized with joint rate, power and content control

17. 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. 18 Questions?