17
Devid Will, Adrian Zlockifka – Forschungsgesellschaft Kraftfahrwesen mbH
TS91
Sensors for Automated Vehicles
State of the Art Analysis for Connected and Automated Driving within the SCOUT Project
Overview on European Research
INVENT
2006 - 2010 AKTIV 2012-2016 UR:BAN
interactIVe
eCoMove
eValueMOTIV
FP5
1992-1994
TAP (FP4)
1994 - 1998
1992 - 1994
1985 1990 1995 2000
PROMETHEUS (EUREKA)
IST (FP5)
1998 - 2002
FP6
DRIVE II
FP7
2007 - 2014
DRIVE I1989-1991
PROTECTOR
CHAMELEON
PROMOTE CHAUFFEUR II
2000-2003
2000-2003
PREVENT
PROMOTE CHAUFFEUR I
ADASE II2001-2004
RESPONSE 22001-2004
KONVOI
1996-2000
Europe
Germany
AIDER 2008-2011
euroFOT2008-2012
TeleFOT2008-2012
2015
Intersafe II2008-2011
SIM-TD2008 - 2012
2010-2013
2011-2016
Drive C2x2011-2013
Pre-Drive C2x2008-2010
SARTRE
ecoDriver
Assess2009-2012
HAVE-it
2004-2008Transport Telematics
(FP3)
2020
2014 - 2020
AdaptIVe
VRA-Net
AutoNet2030
iGame
Companion
2002 - 2006
2005
1987-1995 1996-1998
2000-2003
2005 - 20092010-2013
2009-2012
2008-2011
2014-2017
2013-2016
2013-2016
2013-2016
2013-2016
2010
© ika/fka
SCOUT2016-2018
CARTRE2016-2018
Pegasus
ART-042016-2019
2017-2020
ART-03
2018-2021
2015-2018 Ko-HAF
2016-2019
Enable-S32016-2019
Automated Driving
2002-2005
2001 - 2005
Coordination and Support Action
Safe and Connected Automation in Road Transport
Partner
BMW, Bosch, CLEPA, CRF, Fraunhofer LBF, NEC, NXP,
Renault, SERNAUTO, Telecom Italia, VDI / VDE-IT, ika
Duration
07/2016 – 07/2018
SCOUT - Structure and Responsibilities
WP 3
Analysis of the European
Ecosystem for Connected
and Automated Driving
(ika)
WP 4
Identification of
Sustainable Business
Models
(FHG)
WP 2
Capture of
Goals,
Expectations
and Use
Cases
of Safe and
Connected
Automation
(Renault)
Strategy Development
WP 8
Project Management (VDI/VDE-IT)
Society
e.g. Cities,
Interest Groups
Public
Authorities
Industry
WP 6
International Monitoring and Cooperation (BOSCH)
Service Functions
Industry Sectors
(Automotive,
Telecom, Digital)
WP 5
European
Roadmap
for Safe
and
Connected
Automation
(NXP)
WP 7
Networking and Dissemination (CLEPA)
EU Project
Coordinators
General
Public
State of the Art Analysis
Objectives
• Record the state of the art in technical and non-technical enablers
and anticipate future evolutions
• Identify current and future gaps and challenges from technical,
societal, economic, policy, legal and regulatory perspectives in
comparison to the vision created in SCOUT
• Enable the anticipation of future development paths of the
European ecosystem of connected and automated driving
5-layer model on Automated Driving
• Each factor of Automated Driving is addressed by using the 5-layer model
• Societal
• Legal
• Economics
• Human factors
• Technology
• Each layer is divided into
• Vehicle
• Driver
• Environment
• A holistic approach is necessary on the way towards Automated Driving
none of these factors can be removed
• Focus on technical and legal layer
D R I V E R
V E H I C L E E N V I R O N M E N T
T E C H N I C A L S T A N D A R D S
Structuring Automated Driving
5-level-model on Fields of Action
D R I V E R
V E H I C L E E N V I R O N M E N T
D R I V E R
V E H I C L E E N V I R O N M E N T
D R I V E R
V E H I C L E E N V I R O N M E N T
D R I V E R
V E H I C L E E N V I R O N M E N T
Technical Level
Interaction Level
Legal Level
Social Level
D R I V E R
V E H I C L E E N V I R O N M E N TEconomic Level
Standardization
Design of infrastructure, e.g.
Physically road markings etc.
Informational connectivity
HMI concept, e. g.
Information presentation
Logics & timing & escalation
Evaluation & Sign-off
Suitable Methodologies
Efficient Process?
Regulations of
Infrastructure, e. g.
Road building rules
Assessment of acceptance, e. g.
for different user groups
Cost/Benefit analysis
Efficiency, Safety
Business location Germany
Technical regulations, e. g.
Traffic regulations (e.g. StVZO)
ECE R79, …
Environment detection
Sensor range
Redundancy
Regulation / Laws for drivers
e. g. STVO
Vienna Convention on road traffic
Driver-Vehicle-Interaction, e. g.
after TOR
during automated drivingDriver-Environment-Interaction, e. g.
Detection of critical situations
Reaction of other traffic participants
New business models, e. g.
Car-haring
Ride-sharing
Driver monitoring
Actual use of system
TOR = f(driver state)
Technical Layer
• Sensor Overview
• In-Vehicle Sensors
• Sensor Fusion
• Sensor set-ups
• Navigation and Localization
• Maps
• Current Location
• Connectivity
• Overview of 5G
• 5G-PPP Automotive Vision
• Security
Sensor Setup
Radar - Short
Range
Radar - Long
Range
GPS Lidar / Laser
Camera - Mono Camera – Stereo V2X – Sensor
Ultrasonic Infrared Maps
Example: Tesla Model S
Example: Mercedes S-Class
Technical Layer
Technical LayerEnd-to-End Learning:
Component based driving function:
Deep Neural
Network
Longitudinal
and Lateral
Control
Sensor data
(e.g. Camera)
Sensor data
processing Longitudinal
and Lateral
Control
Sensor data
(e.g. Camera)
Deep
Neural
Network
Sensor
Fusion
Deep
Neural
Network
Deep
Neural
Network
Situation
Under-
standing
Tactical
Planning
Trajectory
Planning
Deep
Neural
Network
Deep
Neural
Network
Legal Layer
• Legal status of connected and automated driving in Europe
• Vienna Convention & United Nations Regulation UN-R 79
• National Regulation
• International Regulation in several European member states
• USA
• Japan
• South Korea
• China
• Other regulation areas to be observed
• Liability
• Insurance
• Personal Data Protection/Data Security
• Type Approval
• Other national regulations revolving around automated driving
Legal Layer
Example: Legal status in Europe/Germany
• Vienna Convention on Road Traffic (1968)
• Spring 2014: proposals for amendments changes integrated
• National vs. international law
Germany
• January 2017: German Federal Ministry of Transport Proposal presented a
legislative proposal to amend the “Straßenverkehrsgesetz” in order to
establish a first legal basis for automated driving in public space
• New laws on „highly and fully automated cars“ valid since June 21, 2017
• Ethics Committee on Automated Driving Final report from June 20
• Available legal boundary conditions for Level 3 vehicle automation
Legal Level - Current State of the Art
Level 3 Systems are already legal in Germany
• New law on Level 3 vehicle automation valid since June 21st 2017 in
Germany
• Driver is allowed to get out of the driving loop, but needs to take over if
required by the system or if he detects a danger
• Data needs to be recorded of take over requests and take over situations
(to be deleted after 6 month)
• This data is to be analysed in order to determine the cause of accidents
• In total the law is not clear in all points and will need to be analysed more
accurately in case of any legal problems after an accident
• Evaluation of the law in 2019
Certification of Level 3 Systems are possible
Social Level - Current State of the Art
German Ethics Commission on Automated Driving
• Ethics Committee on Automated and Connected Driving issued final
report on June 20, 2017
• 14 independent experts involved
• 20 ethical rules for Automated and Connected Driving established
• v
• Main conclusions:
– Protection of humans has highest priority
– No evaluation between human lives (one vs.
many, young vs. old etc.)
– No ethical decisions are to be programmed
into system (dilemma situation)
The Ethics need to be taken into account
Next Steps in SCOUT• SWOT analysis of the connected and automated driving ecosystem
in Europe
No
Automation
Driver
Assistance
Partial
Automation
Conditional
Automation
High
Automation
Full
Automation
“swarm-
driving”…
Robust & secure
connectivity …
perfect
Driver Assistance
by precise Information
cooperative
highly
automated
driving
Car
without
controls
…“classic
car”No
connectivity…ACC
ACC
+
Lanekeeping
autonomous
highly
automated
driving
e.g.
traffic information,
eCall
e.g.
radio based
danger warning
comfortable
automated
driving using
eHorizon
…State-of-the-art
connectivity
Level 0 Level 1 Level 2 Level 3 Level 4 Level 5
System
L e
v e
l o
f C
o n
ne c
t i
v i t
y
L e v e l o f A u t o m a t i o nHuman
Level 5Level 0 Level 1 Level 2 Level 3 Level 4
Thank you!
