c-v2x trial in japan - qualcomm.com · continental, ericsson, nissan, ntt docomo, oki, qualcomm...

C-V2X Trial in Japan

Qualcomm Technologies Inc.

December 13, 2018 Japan

Continental, Ericsson, Nissan, NTT DOCOMO, OKI, Qualcomm Technologies 2


Trial objectives

◼ The objective is to validate and demonstrate the benefits of C-V2X using direct

communication technology defined by the 3rd Generation Partnership Project (3GPP) in

their Release 14 specifications. The trials are designed to show the enhanced range,

reliability and latency benefits of C-V2X direct communications operating in 5 GHz band.

◼ Additionally, the C-V2X Trials are designed to demonstrate the complementary benefits

of network-based communications utilizing LTE-Advanced (LTE-A).

◼ The trial results will help develop the ecosystem by providing inputs to the relevant

stakeholders, including ITS-related organizations and government agencies, as we

prepare for the connected car of the future and the industry's evolutionary transition

towards 5G New Radio (NR), the new global cellular standard being defined in 3GPP.


C-V2X Trial System Architecture

Visualization,Logging Server

V2N (Uu)

V2V(PC5)

Uu LTE Network Interface

PC5 Direct communication Interface

V2P(PC5)

Confidential and Proprietary - Qualcomm Technologies, Inc. All Rights Reserved.

V2N application server

V2P device C-V2X vehicle

LTE core network Road Side Unit (RSU)

V2I(PC5)


Trial System; Test vehicle, RSU, Pedestrian

Test VehicleNissan LEAF

Test VehicleNissan LEAF

Test Truck

PC5 Antenna

Pedestrian RSU

C-V2X trial system Note

Test Vehicle Two Nissan LEAF test vehicles with PC5 and Uu trial system that are placed in the back trunk. Trial

system consists of C-V2X DP for PC5, LTE V2N system for Uu, mobile router for cloud logging &

remote operation, CAN converter and antenna and power battery.

Test Truck A full-size test truck with PC5 that is used for occlusion scenarios. PC5 antenna is placed on the roof.

Pedestrian Pedestrian looks PC5 test device that is used for V2P scenarios. PC5 antenna is handled.

RSU RSU types PC5 test device that is used for V2I scenarios. PC5 directional antenna is placed at 5 m

height.


Trial System; PC5 radio configuration

Item Specification

Antenna (Nissan LEAF Test Vehicle) PC5: 2 Rx, 1 Tx, GNSS: 1 RxGain: 6 dBi, Omni Directional (v)Cable connector loss; 3.8 dB

Antenna (RSU) Gain: 10 dBi, Directional antennaDirectivity: ±20°, Hight: 5 m

Antenna (Truck) Same antenna with LEAF mounted on the truck roof

Antenna (Pedestrian) Same antenna with LEAF. Handheld

Max Tx power Conducted 20.3 dBm (at OBU antenna port)EIRP: 22.5 dBm (OBU + antenna for test vehicle)

Frequency 5.8 GHz

System bandwidth 10 MHz

Tx bandwidth 2.16-3.24 MHz (12 ~ 18 RBs)

Modulation QPSK

Error correction Turbo Coding and HARQ

Tx interval Every 100 ms

Tx Packet size 69 -126 bytes

Resource Selection Window 20 ms

PC5 synchronization GNSS only

On Board Unit(OBU) for PC5Qualcomm C-V2X DP(Development Platform)MDM9150 Pre-commercial chipset


Trial System; V2N

V2N Application ServerServer location：Tokyo

Client PC

ClientApplication

GNSS

CANUSB

Driving Assistance Information

Item Notes

Radio ParametersNTT Docomo commercial LTE network

Uplink message transmission interval

100 ms

Transport protocolMQTT(TCP/IP base)

Packet size 116 Bytes

Car Status

Server Application

MQTT Broker

Car Status Database

Smartphone

NTT Docomo Commercial Network


V2N Network-based Test scenario

(Advanced notification in wide area)

Type

Overtaking scenario V2N

Crossing scenario V2N

Car Following scenario V2N

Hazardous Location scenario V2N

V2V, V2I, V2P, Direct communication Test

scenario (Long range, short latency)

Type

Overtaking scenariofor long range, short latency

V2V

Vehicles Crossing scenario

for long range in NLOS, short latency

V2V

Car Following scenario

for short latency notification

V2V

Hazardous Location scenario

for long range RSU coverage,

short latency notification

V2I

Pedestrian crossing scenario

for long range in NLOS,

short latency notification

V2P

Assumed test scenarios

Japan C-V2X trial does not focus on the ITS use case verification, development at this moment. Below test scenarios which refer to DNPW, EEBL, IMA, HLW and VRUW of SAE J2945/1 are selected to establish V2V, V2N, V2P and V2I test scenarios.


Test Execution Summary

Japan C-V2X trial were conducted in the JARI Tsukuba and Shirosato test track mainly. Shirosato oval track and straight track were used for high speed, longer range testing.Tsukuba LOS/NLOS test field was used for NLOS, LOS simulated testing.Tests were performed from July to October 2018.

JARI Shirosato

Oval track

500m

JARI Tsukuba

100m

LOS/NLOStest field

Target scenario Test Venue

Overtaking scenario JARI Shirosato Oval track

Car Following scenario JARI Shirosato Oval track

Hazardous Location

scenario

JARI Shirosato Straight track

Crossing Scenario JARI Tsukuba LOS/NLOS test

field

Pedestrian scenario JARI Tsukuba LOS/NLOS test

field,

NTT DOCOMO YRP R&D center

Straighttrack


PC5 LOS Range; Test results

At JARI Shirosato Oval Track

• HV is stationary

• RV in constant speed of 60 km/h

• Coverage distance is ~1200 m based on 10% PER* (PER was obtained from 50 samples over moving average)

• Over 1200 m distance is out of test scope due to NLOS condition in the oval track.

1200 m

JARI Shirosato Oval Track

*10 % PER was used as a criterion by referring other C-V2X trials. It does not come from application level requirements.

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-90

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0 200 400 600 800 1000 1200

Packet E

rror

Rate

(%

)

RS

SI (d

Bm

)

Distance b/w vehicles (meters)

Mean RSSI (5m bin) RSSI Packet Error Rate


-110

-100

-90

-80

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0 50 100 150 200 250 300 350

RS

SI (d

Bm

)

Distance (m)

LOS, 40km/h NLOS, 40km/h LOS,40km/h,Mean(5m bin) NLOS,40km/h,Mean(5m bin)

PC5 NLOS Range; Test results

• NLOS scenario was tested for comparison with LOS scenario

• Confirmed 380 m NLOS coverage distanceOver 380 m distance is out of Tsukuba test track area

• No packet error was observed during both NLOS / LOS tests

• RSSI level delta between LOS / NLOS was average 14dB

At JARI Tsukuba Track

JARI Tsukuba Test Track

HV (Stationary)

Truck(Stationary)for NLOS

50m

Containersfor NLOS

No packet error was

observed in

LOS/NLOS tests


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0 200 400 600 800 1000 1200 1400 1600 1800

PER

(%

)

Distance (m)

PER vs Distance at 220 km/h relative speed

Oval track max LOS distance

PC5 Range in high speed; Test results

At JARI Shirosato Oval Track

• HV and RV were driven in opposite direction around the track at 110 km/h resulting in a relative speed of 220 km/h

• Each vehicle on separate lane driving opposite direction

• Max distance with 10% PER is 1307 m

• Track’s LOS distance is limited to ~1200 m

• Coverage distance is limited due to NLOS of the oval track and relative locations of each vehicle

JARI Shirosato Oval Test track


PC5 Latency; Test results

Test scenario Latency (ms)

5% tile 50% tile 95% tile

Car Following 11 16 25

Overtaking 10 17 25

Hazardous location 10 16 26

Combined

all scenario

11 16 26

At Shirosato Oval and Straight track

• Resource selection window is set to 20 ms

• Calculated average ITS application layer end-to-end latency in three use cases trials

• Tested in non-congested environment. Tx resources are randomly selected from 20 ms resource window

• Latency is measured between two test vehicles

• Median latency was less than 20 ms in all test scenarios.


LTE Downlink Signal Level

RSRP: -120 -110 -70-100 -90 -80

JARI Shirosato(Oval Track)

JARI Shirosato(Straight Track)

JARI Tsukuba(LOS/NLOS Test field)

Downlink signal level is measured by reference signal reception power (RSRP)


V2N Communication Latency※

Minimum 5%-tile 50%-tile 95%-tile

JARI Shirosato（Straight Track）

24 ms 30 ms 39 ms 49 ms

JARI Shirosato（Oval Track）

26 ms 31 ms 48 ms 52 ms

JARI Tsukuba（LOS/NLOS Test field）

25 ms 33 ms 41 ms 53 ms

No significant difference on end-to-end latency observed in driving courses

※Ping latency with 116 bytes payload. Vehicle → network → vehicle latency is measured


RSRP vs end-to-end latency

JARI Shirosato (Oval Track)

Additional latency observed in lower RSRP region which is due to additional retransmission on weak signal level

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-120 -110 -100 -90 -80 -70 -60

En

d-t

o-e

nd

Late

ncy

[ms]

RSRP [dBm]

5%

50%

95%


Key findings and observations

◼ C-V2X PC5 direct communication basic performance– 1200 m communication distances less than 10% PER in line-of-sight condition

– Confirmed communication in 220 km/h relative high-speed condition less than 10% PER and 1200 m distance

– Median latency are less than 20 ms between two test vehicles

– Communication range was 380 m under NLOS condition (14 dB loss added by occlusion)

◼ Uu LTE network communications performance– Wide area communication with end to end median latency of 50 ms in NTT DOCOMO’s

commercial network during connected state

– In 95%-tile, end-to-end latency was less than 60 ms

– Latency increase was observed in lower reference signal reception power (RSRP) condition. It is considered that radio layer retransmission (Hybrid ARQ) increased at that condition.

Note: It is an observation based on trial instances, non-congested

conditions of PC5


Glossary3GPP 3rd Generation Partnership Project

C-V2X Cellular Vehicle to Everything

CAN Controller Area Network

DNPW Do Not Pass Warning

EEBL Electronic Emergency Brake Light

EIRP Effective (or Equivalent) Isotropic Radiated Power

GNSS Global Navigation Satellite System

HARQ Hybrid automatic repeat request

HLW Hazardous Location Warning

IMA Intersection Movement Assist

ITS Intelligent Transportation System

JARI Japan Automobile Research Institute

LOS Line of Sight

MQTT Message Queuing Telemetry Transport

NLOS Non-Line of Sight

OBU On Board Unit

PER Packet Error Rate

QPSK Quadrature Phase-Shift Keying

RB Resource Block

RSRP Reference Signal Reception Power

RSSI Received Signal Strength Indicator

V2X Vehicle to Everything

V2V Vehicle to Vehicle

V2I Vehicle to Infrastructure

V2P Vehicle to Pedestrian

V2N Vehicle to Network

VRUW Vulnerable Road User Warning


Thank you

Continental, Ericsson, Nissan, NTT DOCOMO, OKI, Qualcomm

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components or devices referenced herein.

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c-v2x trial in japan - qualcomm.com · continental, ericsson, nissan, ntt docomo, oki, qualcomm...

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