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GPSnet Development Manager
Department of Sustainability and Environment
CRCSI Positioning Program
James Millner
Acknowledgements
David Green: Project Team Leader Australian Roads Research Board
Professor Yanming Feng: Queensland University of Technology
Matt Higgins: Queensland Department of Natural Resources and Mines
‘Vehicle Positioning Requirements
for Cooperative Intelligent
Transport Systems and the role of a
National Positioning Infrastructure’
∗ Contents
∗ What are Cooperative Intelligent Transport Systems (C-ITS)?
∗ Vehicle Positioning requirements for C-ITS applications
∗ National Positioning Infrastructure (NPI)
∗ How can the NPI support C-ITS?
Cooperative Intelligent Transport Systems require a combination of:
∗Dedicated wireless communications
∗Vehicle positioning systems
∗Enhanced road maps
This presentation will focus on the relative and absolute positioning requirements of:
∗Vehicle to Vehicle (V2V) and
∗Vehicle to Infrastructure (V2I)
Source: Feng et al 2012
Vehicle to Vehicle (V2V)
GPS Raw Data
Vehicle’s
Reference Point
(GPS Antenna)Vehicle’s
DSRC Antenna
Vehicle-to-Vehicle Relative Positioning
DSRC Link
SAE J2735
BSM Part I: Vital State Data (e.g. Lat, Lon)
BSM Part II: Safety Extension (e.g. RTCM)
INSERT HEADINGVehicle to Infrastructure V2I – absolute positioning using Multi-GNSS
corrections from Continuously Operating Reference Stations (CORS)
C-ITS with CORS and DSRC
CORS
CORS
CORS
DSRC
DSRC
DSRC
Positioning
Control
Centre
DSRC
Control
Centre
Source: Feng et al 2012
∗ Emergency Electronic Brake Light
∗ Forward Collision Warning
∗ Intersection Movement Assist
∗ Blind Spot Warning + Lane Change Warning
∗ Do Not Pass Warning
∗ Control Loss Warning
US developments in C-ITS safety applications
USA Department of Transport’s Research and Innovative
Technology Administration (RITA) has demonstrated six core V2V
safety applications
Source: Crash Avoidance Metrics Partnership 2009 & Kenney 2011
Vehicle-based applications
∗Intersection Safety application
∗Safe Overtaking application
∗Head On Collision Warning
∗Rear End Collision
∗Speed Limitation and Safety Distance
∗Frontal Collision Warning
∗Road Condition Status
∗Curve Warning
∗Vulnerable Road User Detection and Accident Avoidance.
European developments in C-ITS safety applications
European research and development project SAFESPOT has demonstrated
a large number of V2X classified into both vehicle-based and infrastructure-
based applications
Source: Crash Avoidance Metrics Partnership 2009 & Kenney 2011
Image Source: Cohda Wireless
∗ Speed Alert
∗ Hazard and Incident Warning
∗ Intelligent Cooperative Intersection Safety
∗ Road Departure
∗ Safety Margin for assistance and emergency vehicle.
European developments in C-ITS safety applications
European SAFESPOT Infrastructure-based applications:
Image Source: Cohda Wireless
Australia: Intelligent Transport Systems to Improve Safety at Level Crossings
Source: Professor Singh La Trobe University
Tests by La Trobe University in Victoria using V2I DSRC to have cars and trains 'talking' to each other could save an average of 37 lives
every year and an estimated 100 million dollars, by eliminating rail crossing collisions, especially in rural and regional Australia.
∗ Road accidents are a leading cause of deaths worldwide. It is estimated each year that 1.2 million people are killed and a worldwide loss of between 1% and 2% of GDP (Feng 2009)
∗ Cost of road fatalities in Australia in terms of medical expenses, loss of work time is in the order of $17 billion per annum (The University of Queensland – June 2006)
∗ Avoidable traffic congestion in Australia is estimated to cost over $10 billion per annum (about 1% of GDP) (Feng 2009)
∗ Vehicle Energy Management (VEM) is estimated to provide annual fuel savings for Victoria of about $30 million and a reduction of 47,700 tonnes of carbon emissions, (DSE response to Transportation - B2B ICT Roadmap)
∗ Potentially V2V communications with high accuracy positioning/mapping systems can provide Australia a benefit of above $20 billion per annum by avoiding congestion, saving 50% of lives and reducing green house gas emissions (Feng 2010)
∗ Australian Vision for 2030 (ITS Summit 2009)
∗ Zero fatalities by 2030
∗ Zero avoidable congestion by 2030
∗ Reduction of 50% transport CO2 gas emissions (8.5% of total emissions)
Potential Economic, Safety and Environmental Benefits of C-ITS
Cisco’s Internet Business Solutions Group (IBSG) Point of View document: Business Case for Connecting Vehicles
reports that Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication has the potential to prevent 80 percent of reported crashes according to the USA National High way Traffic Safety Administration. Cisco believes that by connecting a third of all vehicles has the potential to tap more than $100 billion of value in the United States and another $345 billion globally.
Source: Cisco IBSG Mai & Schlesinger April 2011
Alternative Business Case for Connecting Vehicles
∗ road level (on which road the vehicle is placed)
∗ lane level (in which lane the vehicle is in)
∗ where-in-lane (where the vehicle is in the lane).
Positioning accuracy required for C-ITS safety applications
The accuracy requirement for C-ITS safety applications is
classified into three levels:
Source: Basnayake 2009, Basnayake et al 2010 & Basnayake et al 2011
Type Level Accuracy Requirement Research prototype Communication
latency (second)95 % confidence level
(m)
Root means square
(order)
Root means square
(order)
V2I:
absolute
Road-level 5.0 Metre Metre 1-5
Lane-level 1.1 Sub metre Sub metre 1.0
Where-in-lane-
level
0.7 Decimetre Decimetre 0.1
V2V:
relative
Road-level 5.0 Meter Sub metre 0.1
Lane-level 1.5 Sub metre Decimetre 0.1
Where-in-lane-
level
1.0 Decimetre Centimetre 0.01-0.1
Summary of positioning accuracy required for C-ITS safety applications
Source: Feng et al 2012
Summary of positioning components used for C-ITS safety applications
Source: EDMap Consortium (2004) and
Feng et al 2012
How can Australia’s national positioning infrastructure support emerging
C-ITS safety applications?
Source: ANZLIC, 2010
Application
Processing UnitProtocol Processor
Encoder/Decoder
DSRC Transceiver GPS Receiver
Sensors
Display DevicesDisplay Devices
Interface
Sensors Interface
GPS Signal
Converter
On-Board Unit
GPS AntennaDSRC Antenna
Revisit vehicle positioning components of C-ITS
Source: Schokker (2010)
Structure of a typical on-board unit using GNSS and sensors
Continuously Operating Reference Stations CORS
Features:• Continuously Operating• ‘100 Year’ concrete pillar anchored to granite bedrock
• Solar and hydrogen fuel cell power• VSAT connectivity• Integrated Met Station• Full remote site monitoring and operation
Source: GPSnet DSE
International, National and State based CORS
Indicative distribution of the IGS world tracking stations
Source: International GNSS service
Source: Johnston et al. (2008) Geoscience Australia
Source: Hausler 2011 www.thinkspatial.com.au/maps/natgnss/
Users and Benefits of CORS
Hours of Use by Market SectorHours of Use by Market SectorHours of Use by Market SectorHours of Use by Market Sector
Agriculture
48%
Survey (RTK)
30%
Construction
6%
Mapping
(DGPS)
1%
Mapping
(RINEX)
5%Survey
(RINEX)
10%
Research has identified benefits of high accuracy
positioning for machine automation in agriculture
construction and mining
• More productive (up to 200%)
• More competitive (mining and construction)
• More sustainable (particularly agriculture)
Source: GPSnet DSE, CRCSI, Allens Consulting 2007, 2008
Projected GNSS Value Chain
Source: The European GNSS Agency (GSA) 2012
The worldwide GNSS market is growing fast and the total enabled
revenues are expected to increase 13% CAGR between 2010 and 2016
Road is the largest market by revenue, followed by LBS
By 2020, many vehicles will be served by multiple GNSS devices
Future vehicles, connected to a roadside distributed network will support
a range V2X applications like road side assistance, intelligent active
driving, infotainment and traffic management.
How can the NPI support C-ITS?
What are the options and opportunities?
Space Based Augmentation System (SBAS) Feng, Higgins et al 2012
Number of satellites available in Australia
0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021
MSAS
QZSS
IRNSS
Compass
Galileo
GLONASS
GPS
The number of satellites in different GNSS visible in
Australia for the period of 2009-2021 (Donets 2012)
How can the CRCSI support C-ITS?
What are the options and opportunities?
Source: Feng et al 2012
Safety application Horizontal
accuracy
(95%)
Road level Stop Sign Assistant-warning 5-10m
Curve speed assistant-warning 5-10m
Location-based Hazard-
warning
5-10m
Lane-level
Absolute
Stop Sign Assistant-control 0.3-1m
Traffic signal 0.3-1m
Intersection Collision Warning 0.3-1m
Curve speed assistant-control 0.3-1m
Lane departure warning <0.3m
Lane-level
Relative
Blind spot warning <0.5m
Emergency Brake Lights <0.5m
Cooperative Collision Warning <0.5m
Forward collision warning <0.5m
Pre-cash sensing <0.5m
Known GNSS vulnerabilities
Space weather
Interference
User level
System level
GNSS Vulnerabilities and Dependencies
U.S. GPS Interference Detection and Mitigation (IDM) Program
Source: CRCSI 2012
GNSS alternatives and backup
Image Source: Locata, InsideGNSS,
Leica JPS
Locata positioning Concept
Source: Rizos et al. (2010).
Radio location technology is represented by technology developed by the
Locata Corporation through a LocataLite (transceiver) and a Locata (receiver)
Radio Location Technology is being designed to provide an affordable,
terrestrially based, location system that closely parallels GNSS in system
design and performance. The technology is considered an extension and
expansion of GNSS that can either work with GNSS or operate independently
when GNSS is not sufficient.
Questions