© GMV, 2016 Property of GMV

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RELIABLE POSITIONING FOR AUTONOMOUS DRIVING

JAPAN ROUNDTABLE IN THE

EUROPEAN SPACE SOLUTIONS

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2016/06/01 Page 2Japan roundtable in the European Space Solutions

IN

DEX INTRODUCTION

POSITIONING PERFORMANCE REQUIREMENTS FOR AUTONOMOUS DRIVING

POSITION INTEGRITY: CONCEPT, NEEDS, AND TECHNOLOGY

ESCAPE: SAFE POSITIONING DEVICE FOR AUTONOMOUS DRIVING

CONCLUSIONS

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INTRODUCTION

Today most of positioning systems for autonomous driving are based on relative sensors (camera, radar, lidar…) that measure position of the car w.r.t. the road, other vehicles and potential obstacles

However, absolute positioning is also needed

GNSS is a main contributor to absolute positioning and can also provide relative position in a co-operative environment

In both cases (absolute and relative positioning) their performance and reliability are crucial to ensure a safe driving

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POSITIONING PERFORMANCE REQS. FOR AUTONOMOUS DRIVING

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A positioning system for autonomous driving has to fulfill highly demanding performance requirements

Similar to RNP concept introduced in Civil Aviation in the 80´s. Avionic navigation devices have to fulfill those RNP

In order to specify and measure performances (essential for procurement, design, validation and certification) performance metrics have to be standardized -> prEN16.803 (produced by CEN/CENELEC)

Key performance requirements for autonomous driving:

PVT related:

– Accuracy

– Availability

– TTFF (less critical)

– Continuity

– Integrity

Robustness related:

– Robustness to Spoofing: Authenticity

– Robustness to Interferences

Vehicle safety mainly driven by continuity and,

especially, integrity requirements (as in

Civil Aviation)

Integrity is the most relevant positioning

performance requirement for

autonomous driving

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POSITION INTEGRITY IS MORE THAN HIGH ACCURACY (I)

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Position Integrity concept introduced by civil aviation for operations when position performance affects safety

E.g. for a safe landing it is not enough that errors are small in average (accuracy); it requires that errors are bounded all along and in everylanding (integrity)

Same applies for autonomous driving

Simple Example (compared to aircraft landing):

Autonomous vehicle entering in a tunnel

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POSITION INTEGRITY IS MORE THAN HIGH ACCURACY (II)

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High accuracy does not necessarily imply high integrity

High integrity is what autonomous driving needs

High AccuracyLow Integrity

Tunnel

! Don´t use

Low AccuracyHigh Integrity

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POSITION INTEGRITY IS MORE THAN HIGH ACCURACY (LESS FORMAL)

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HOW POSITION INTEGRITY IS IMPLEMENTEDIntegrity implemented through the concept of Protection Level (PL): Positioning terminal provides not only PVT but also PL (circle around estimated position) ensuring that the probability (Target Integrity Risk) that the real position is out of the PL is extremely low

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Two relevant performance metrics appear:

• Integrity Risk: Probability that error is larger than PL. Actual probability has to be smaller or equal the TIR (typical values for safety critical systems: 10-6 or 10-7)

• Protection Level Size: The smaller the PLs the better for the application (typical values for autonomous driving: 2 meters)

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POSITION INTEGRITY TECHNOLOGY STATE-OF-THE-ARTWell known in Civil Aviation. E.g. use of SBAS: EGNOS, MSAS, WAAS..

More complex in road: larger errors due to signal reflections, interferences, multipath, etc. -> assumptions in SBAS not valid -> need of new autonomous (at receiver level) integrity technology

Much more complex for autonomous driving: in addition to the mentioned environment, very demanding integrity requirements (small PLs and very small TIR) -> need to integrate another technology (classical GNSS alone not enough):

GNSS RTK or PPP

Integration of other sensors such as cameras

GMV has developed the IBLP and KIPL integrity algorithm that provide integrity in road environment and allows integration of different sensors. They are understood to be at the edge of integrity technology for road

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ESCAPE: A SAFE ABSOLUTE POSITIONING ENGINE FOR AUTONOMOUS DRIVINGGMV technology is a key asset the development of a SAFE ABSOLUTE POSITIONING ENGINE FOR AUTONOMOUS DRIVING together with other key actors for a GSA project

Main drivers:

• Fulfilment of performance requirements

• Multi-constellation, multi-frequency and multi-sensors

• Safety

• Credible business model

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CONCLUSIONS

Positioning performances are key for autonomous driving

Position Integrity is the most critical performance

GNSS provides a very valuable technology for high performance absolute positioning. Galileo improves the GNSS scenario by allowing multi-constellation, multi-frequency features, PPP and authentication

Standardization of performances and certification of positioning devices is also key

GMV, based on previously developed integrity technology is working with other key stakeholders (Renault, ST, FICOSA…) for the development of a safe, high integrity positioning engine for autonomous driving under a GSA contract.

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