1SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Integrated ProjectIntegrated Project

Co-operative Systems for Road Safety Co-operative Systems for Road Safety

““Smart Vehicles on Smart Roads”Smart Vehicles on Smart Roads”

Debra Topham

debra.topham@mira.co.uk

T1.2.1 Leader

SAFESPOTSAFESPOTSAFESPOTSAFESPOT

2SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Current Status of SP1

• Use Case and basic scenario template defined

• SP1 view of actors defined

3SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Current Status of SP1: SP1 Actors/Entities

Users•Other probe vehicles•SP4_subsystem•SP2_subsystem

Internal •SP3 subsystem•Vehicle dynamics •Body management•Occupant safety systems•Environmental systems•Navigation system

External •Other vehicles

•Pedestrian VRU

•Cyclist VRU

•PTW VRU

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Current Status of SP1

Road types•Motorway/highway

•Urban

•Suburban

•Rural

Weather Conditions•Fog

•Rain

•Wind

•Snow

Road segment•Tunnel•Bridge•Curved road•Straight road•Intersection/junction•Roundabout•Pedestrian crossing

–Signalled–Unsignalled

Diurnal cycle•Night•Day

•Initial approach taken was to define scenario titles and attributes, however this did not provide a basis/justification for selection

Driving Scenario Attributes

5SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Current Status of SP1:Initial Scenarios

Vulnerable road user warning•Pedestrian in the road

•Motorcycle overtaking

•Pedestrian on the Zebra crossing

•Pedestrian using pelican crossing

Hazard warning•Obstacle detected in the road

•Vehicle travelling in the wrong direction

•Emergency breaking

•Driver braking erratically

•Vehicle being driven erratically

•Emergency vehicle approaching

•Accident warning

•Stolen vehicle warning

•Environmental hazards (Fire/smoke, pollution)

•Vehicle has run a red light

•Road works/lane restrictions

•Dangerous goods being transported

•Train approaching road crossing

•Heavy goods vehicle

6SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Current Status of SP1: Initial Scenarios

Driving support•Vehicle exceeding advisory speed limit

•Traffic lights about to change

•Lane departure support

•Road works

•Uneven road surface

•Lane closures•Lane departure support

Cooperative driving

•Lane merge •Lane change

•Traffic beyond range of ADAS sensors slowing down

7SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

Current Status of SP1

• New approach now being followed to select and describe “basic scenarios”– Previous approach gave no basis or justification for the focus of

SP1 scenarios• Preliminary selection of scenario titles made

• Preliminary list of scenario titles described using basic scenario template

8SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Scenario Selection Process (1)

In order to provide a basis for the selection of commonly agreed ‘priority scenarios’ between partners, the following approach has been taken:

1. Scenario groupings defined relating to generic affects on a normal (non-risky) driving situation that can trigger a scenario. Normal driving (“non-risky) Road surface condition change (incl. road friction) Lane traffic condition change (incl. obstacle) Weather visibility change Approaching intersection Significant road geometry change Lane change Abnormal driver behaviour

9SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Scenario Selection Process (2)

2. Each partner contributing to the scenario task defined scenario titles according to the groupings in step 1.

3. Partner contributions collated and overlapping scenarios merged

4. Remaining scenario titles rated according to their priority by each partner:

Top priority = 1

SAFESPOT relevant = 2

Nice to have = 3

More information needed = 4

Reject = 5

10SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Scenario Selection Process (3)

5. Assessment of partner ratings carried out

Due to rating anomalies the following selection criteria was applied to identify scenarios according to level of priority:

Priority: all partners agree

Priority L1: Mixed rating of 1 and 2 and Mode = 1

Priority L2: Mixed rating of 1 and 2 and Mode = 2

Priority L3: Mixed rating 1, 2, 3 and MODE = 1

Other criteria: More info & reject, unclassified

11SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Scenario Selection Process (4)

6. Preliminary priority scenario list• Obstacle (VRU, load, slow veh, jam) in ego lane, Priority L1

• Ego turn, approaching obstacle (VRU, load, slow veh, jam) or crossing its path, Priority L1 oncoming vehicle in wrong direction in ego lane, Priority L1

• Ego approaching spot with ice in ego lane, Priority

• Ego vehicle runs a red light or stop sign, Priority L1

• Ego vehicle approaches vehicle fire/smoke section (inside a tunnel, on motorway) , Priority L1 ,

• Ego vehicle approaching road works - restricted lane usage, Priority L2

• Emergency vehicle approaching - blue corridor required (cooperative message exchange between vehicles), Priority L1

• Ego vehicle - Lane departure (incl. off road), Priority L1

• PTW falling on roadway, Priority L3

• ego (PTW) overtaking OV while OV making a turn, Priority L1

• Ego-vehicle starts braking very hard while other vehicle (PTW) is following , Priority L1

• overtaking ego on collision path with oncoming vehicle, Priority L1

• Ego vehicle carrying dangerous goods

• Ego vehicle meets dangerous goods vehicle

12SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Scenario Selection Process

7. Basic scenario template– The Fields defined within the template aim to capture the

selection of attributes from the “attribute scenario diagram” in order to describe a ‘basic’ description of the scenario.

– Flowchart created to lead the author of the basic scenario through the process of completing the template (see handout or CBWA)

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SP1 Basic Scenario Template

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SP1 Basic Scenario Template (continued)

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Scenario Attributes Diagram (V1.2)

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SP1 Use Case Example

Case Name Slippery road condition: Ice warning

Case ID SP1_UC2_3_v1.0

Status Draft

Short description Ego vehicle driving along a straight section of motorway detects that the road surface is slippery as a result of ice on the carriageway

Authors Debra Topham (MIRA)

Driving environment Motorway

Vehicle probe type All classes of probe vehicle

Risk’s source Ice on the road

PreconditionSafeprobe system operationalLocal dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.

Goal/Successful end condition Local dynamic map updates the road surface condition to indicate ice on the road SP4_subsystem able to generate ice warning and advise information.

Failed end conditionLocal dynamic map road condition status does not changeData not delivered to SP4 in a timely mannerRequired sensor data not complete

Trigger EPS, ABS activated

Frequency of occurrence Depends on the time of year and country

Sensor types and useful data Approach to be discussed between T1.2.1 partners

17SAFESPOT Project SP1/SP4 Harmonization Meeting9th June, Lyon

SP1 Use Case Example Cont..

Actors/Entities SP4 subsystem – primary actorOther probe Vehicles – secondary actorSP3_module – internal entityVehicle data sources – secondary actor

Scenario Description Step Action

1 ESP, ABS activated low road friction indicated

2 Outside air temperature sensor indicates that the current air temperature is within ice indication range

3 From the fusion of the vehicle data the System determines that there is a high probability of ice on the road

4 System updates the road surface attribute of the local dynamic map

5 System generates local dynamic map update or specific ice condition warning SP3_module broadcasts the message to other probe vehicles and the infrastructure

6 SP3_module broadcasts the message to other probe vehicles and the infrastructure

7 Fused data available for SP4 subsystem to generate ice warning and driving advise

Extensions Step Action

1a ESP, ABS data delivers corrupted or failure message

2a Outside air temperature sensor faulty, error reading2a.1 From data fusion process LDM road surface condition attribute is updated with a non-specific slippery road condition status2.a.2 SP3 module broadcasts LDM update/ warning to SP2-subsystem and other probe vehicles

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SP1 Use Case Example Cont..

Super ordinates <Insert the name of any use case(s) that includes the current use case>

Subordinates <Insert name of any use case(s) used by the current use case>

Open issues

CommentsPre-conditions may form a separate driving scenarioFeasibility of mapping useful sensor data to use to be discussed