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