This project is co-funded by the European Union under the Horizon 2020 (H2020) Research and Innovation Programme (grant agreement No 769115)

Katrin Sjöberg, SCANIA CV AB10th ETSI ITS Workshop, March 6, 2019

ENabling SafE Multi-Brand Platooning for Europe

ENSEMBLE facts

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• Innovation Action no. 769115

• 3 year EU project, started June 1st 2018

• 20 million EUR EC funding

• 20 partners

• Innovation Action no. 769115

• 3 year EU project, started June 1st 2018

• 20 million EUR EC funding

• 20 partners

• All European truck manufacturers:DAF, DAIMLER, IVECO, MAN, SCANIA, and VOLVO Group (+Renault trucks)

• CLEPA represents the automotive suppliers

• Suppliers:Bosch, Brembo, Continental, Daimler Fleetboard, NXP, WABCO, and ZF

• ERTICO: Link to the European Truck Platooning Community

• Knowledge partners:IDIADA, IFSTTAR, KTH, and VU Brussel

The ENSEMBLE project is coordinated by TNO in collaboration with:

Project structure

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Truck platooning and ENSEMBLE

Societal impact:• Truck platooning holds great potential to improve road safety, reduce emissions

and increase transport efficiency• To unlock the potential, a multi-brand platooning systems needs to be developed

Ambition ENSEMBLE: • Foster the first generation of multi-brand truck platooning

Platooning levels• The project has defined different platooning levels to break down the

complexity of multi-brand platooning into manageable steps towardsdeployment

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What is platooning?

• A string of vehicle travelling together using direct ad hoc wireless communication to– increase safety and efficiency– decrease fuel consumption

• V2V communication complements line-of-sight technologies such as radar and camera– The platooning system is relying

upon several sensors not only V2V

Fuel consumption

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VDA = German Association of the Automotive Industry

The source to stops can be, e.g., red lights and shock waves in dense traffic scenarios, affecting the overall road traffic efficiency.

Slipstream effect

• Literature reports reduced fuel consumption from 5-20% [1,2,3] depending on – position in platoon– distance between vehicles– speed– road topology

• Also first vehicle saves fuel

Figure:: https://www.autonomousvehicletech.com/articles/662-whats-holding-up-truck-platooning

Safety and string stability

• Adding V2X communication will enhance string stability and safety to ACC

8https://pure.tue.nl/ws/portalfiles/portal/3946269/ACC = Adaptive Cruise Control, CACC = Cooperative ACC

SAE automation levels

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• Not a perfect fit for describing platooning being a system-of-systems– Operational and managerial independence– Evolutionary development & emergent behaviour

• ENSEMBLE has defined the notion of platooning levels– Level A/B/C– Break down the complexity of

platooning

Platooning level A

• Longitudinal control • Time gap > 0.8 second• Only join from the tail of the platoon• Manage cut-ins• Speed range 0-80 km/h• Maximum number of vehicles is 7

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Platooning level B and platooning level C are not fully defined yet.

See D2.2 ”Use cases, scenario definition and platooning levels” for more details on platooning levels.

Enabling of the platooning feature

• The platooning feature will only be activated when a set of preconditions have been fulfilled (conveyed using cloud communication)

• Example of static preconditions– Annual inspection, geofencing on route, road infrastructure

limitations (e.g., bridges) etc. • Example of dynamic preconditions

– In-vehicle warnings, local weather conditions, location not allowing platooning, etc.

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SUBJECT TO CHANGE AND DEFINITION!

Platooning V2X communication

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Message set

• CAMs are used for announcing the platooning capability (will probably be changed)

• Always joining from behind• Follower vehicle initiate a ”JOIN

REQUEST”• Leader vehicle answers with a

”JOIN RESPONSE”• Transmit platooning control

messages (PCM)• Transmit ”LEAVE” message

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SUBJECT TO CHANGE!

Protocol logic

• The announcement of platooning capability is performed on the control channel using CAMs (currently, will probably be changed to service announcement container)– Trucks generate CAMs according to the rules

• During the JOIN procedure a symmetric key is exchanged for encryption of PCMs and decision on which frequency channel to use for PCMs is decided upon

• PCMs are transmitted with 20 Hz by all vehicles (broadcast)– Implicit ACKs

• LEAVE message transmitted when a vehicle intends to leave the platoon

14See D2.8 ”Platooning protocol definition and communication strategy” for more details on the V2X communication.

Wrap up

• The ENSEMBLE project – has defined the notion of platooning levels to break down the

complexity of platooning (deliverable D2.2)– has defined a first set of messages using the already standardized

lower layer protocols established in ETSI TC ITS (deliverable D2.8)– ITS-G5 is used for communication between trucks– is using the same security as for day one services with PKI– adds encryption of messages (PCMs)

• The V2X communication outcome of ENSEMBLE will be put into standardization in ETSI TC ITS during 2019

• The ENSEMBLE project addresses several aspects of platooning and you have got a taste on the V2X part in this presentation, but more to come

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This project is co-funded by the European Union under the Horizon 2020 (H2020) Research and Innovation Programme (grant agreement No 769115)

Thank you for your attention

platooningensemble.eu

Consortium leader Marika.hoedemaeker@tno.nl

Deliverables

• Several deliverables have already been published on ENSEMBLE’s

homepage:

– https://platooningensemble.eu/library/deliverables

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References

• [1] https://www.scania.com/group/en/platooning-saves-up-to-12-percent-fuel/

• [2] S. Tsugawa, ”An Overview on an Automated Truck Platoon within the Energy ITS Project,” in Proceedings of the 7th IFAC Symposium on Advances in Automotive Control, Tokyo, Japan, Sept. 4-7, 2013.

• [3] The SARTRE project, 2009-2012.

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