communication, mobility and control for cats* · j. härri – communication, mobility and control...
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Communication, Mobility and Control for CATS*
Jérôme Härri
EURECOM
Robot PACA, June 25th 2018
*Cooperative Automated Transport Systems
J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
CATS – From Awareness to Autonomy
Cooperative Communication
Cooperative Mobility
Cooperative Control
CATS: • Awareness • Positioning • Smart Traffic Lights • Dynamic Navigation • Autonomous Driving • Vulnerable RU • ..
C-V2X, ITS-G5
Cars
ICN, MEC, SDN, Caching
VRU Mixed Robots
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J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Communication – Cellular V2X Roadmap
2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019
4G LTE rel.8 4G LTE rel.9
4G LTE-A rel.10 4G LTE-A rel.11
4G LTE-A rel.12 4G LTEA Pro rel.13
4G LTE-A Pro rel.14 4G LTE rel.15
4G - 12 years development
3G
5G LTE rel.15
5G LTE rel.16
….
Sept
. 201
8
June
201
6
V2X Phase 1 V2X
Phase 2
eV2X Phase 3
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J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Communication – OpenAirInterface – 5G V2X support
Scenario 1: Off-Network V2X-PC5 UEs are off-network but
communicate directly via a Sidelink channel
Scenario 2: On-Network V2X-PC5 UEs are located closed to their eNodeB
but communicate directly via a Sidelink channel
V2X Architecture Common Open-Source D2D Functions Dedicated V2X functions (scheduler)
Spectrum
V2V PC5 – 5.9GHz (current implementations) V2I-V2N Uu – 3.4 GHz (require research spectrum)
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A
BPC5
eNB
A
B
1
2
A and B on-network get configuration from ProSe function
A and B communicate via D2D mode
ProSeFunctionPC3
EPC
PC5
5G OpenAirInterface - http://www.openairinterface.org
J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Communication – Connecting Automated Vehicles
Joint EURECOM, BUPT, CHINA Mobile Demo Actually: 4G only
https://youtu.be/rdWhQoO0EYo
https://youtu.be/7IGewzVH-Ro
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J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Mobility – Modeling Vulnerable Road Users
Powered-Two Wheelers (PTW): Increasing presence in road traffic Lack of knowledge of their influence on traffic
flows Critical impact on Smart Cities and Road
Automations C-ITS applications are not adapted to PTW
– New WG at CAR 2 CAR in 2016
Selected Publications: Sosina Gashaw, Jérôme Härri, Paola Goatin, “Variable Speed Limit Control for Mixed Powered-Two-Wheelers and Car
Traffic”, Submitted to IEEE Intelligent Transport Sytem Conference (ITSC), 2018. Sosina Gashaw, Paola Goatin, Jérôme Härri, Modeling and Analysis of Mixed Flow of Cars and Powered Two-
wheelers, Elsevier Transportation Research Part C, 2018. Sosina Gashaw, Paola Goatin, Jérôme Härri, Analysis of the effect of Powered two wheelers on adaptive traffic
signals operation, 8th International Conference on Mobility and Transport (Mobil.TUM), TU Munich, Germany 2017.
Porous Flow Modeling Improved Road Capacity Optimized Traffic Lights
Variable Speed Limits
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J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Mobility – MoST A Tool for Large-Scale Multi-Modal Scenarios
Modeling a large Scale Urban Scenario
Selected Publications: L. Codeca, J. Härri, "Towards Multimodal Mobility Simulation of C-ITS: The Monaco SUMO Traffic Scenario“, IEEE
VNC’17, Torino, Italy, 2017 L. Codeca, J. Härri, “A 3D Mobility Scenario for Cooperative ITS“, the SUMO Conference, Berlin, May 2018. L. Codeca, J. Härri, “Impact of Powered-Two-Wheelers in a City-Scale Multi-modal Scenario”, submitted to IEEE ITSC
2018..
Modeling Elevations
Modeling Multi-Modal Traffic Modeling Precise Mobility, including
VRU
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J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Cooperative Control – Improving Safety and Efficiency
Automated Vehicles subject to Various sources of errors
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Localization Errors V2X Communication Errors
Perception Errors
Selected Publications: Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Centralized Model Predictive CACC Control Robust to Burst
Communication Errors, IEEE VTC-CAVS, Chicaco, 2018. Aramrattana, Maytheewat; Patel, Raj Haresh; Englund, Cristofer; Härri, Jérôme; Jansson, Jonas; Bonnet, Christian,
Evaluating model mismatch impacting CACC controllers in mixed traffic using a driving simulator, IEEE Intelligent Vehicle Symposium (IV), China, 2018.
Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Impact of localization errors on automated vehicle control strategies, IEEE Vehicular Networking Confefence (VNC), Torino, Italy, 2017.
Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Braking strategy for an autonomous vehicle in a mixed traffic scenario, accepted, 3rd IEEE Conference on Vehicle Technology and Intelligent Transport Systems, 2017, Porto, Portugal.
J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018
Vision to CATS for Smart Cities
OpenAirInterface as 5G technology enabler for automated and remotely controlled vehicles 5G V2X Support 5G URLL MEC
Model and understand the impact of Vulnerable Road Users (VRU)
on Mixed Traffic Impact on Flows Impact on Infrastructures
Provide a tool for modeling large-scale multi-modal urban traffic
https://github.com/lcodeca/MoSTScenario
Develop controllers robust to errors and supporting VRU Robust to localization, communication, perception impairments Integrates mixed traffic and VRU
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Jérôme Härri, [email protected]