Hideaki NANBA

[DENSO CORPORATION, Panasonic Corporation, PIONEER CORPORATION, The University of Electro-Communications]

ICT for the Next-Generation ITS

“Development of V2V, V2I Communication Technology

Toward the Automated Driving systems”

－ Responsible Organizations of the SIP MIC Theme 1. －

This study is the result of the works supported by Ministry of Internal Affairs and Communications（MIC)

INDEX

V2X : Vehicle to Vehicle

Vehicle to Infrastructure

Vehicle to Pedestrian

1.

2.

3.

Activity in the SIP

V2X for Automated Driving Systems

Proof of concept, the application of V2V,

V2I to the merging traffic on the freeway.

Advantages of the V2V, V2I

at the encounter with an ambulance

on the intersection.

1 V2X for Automated Driving Systems

Activity in the SIP

3

Object of the Project ・Application of the predictive information

using V2X for Automated Driving Systems

Implementation

2014 2015 2016 2017 20XX

移

行 移行 Penetration

of V2X

Applying to

Automated

Driving

Advanced Technology

Development to

Automated Driving

Propose Guideline

Making

Committee

to Communication

Standardization

Project Outline

Cabinet Office (Program Director)

Promotion Committee

Ministry of Internal Affairs and Communications（MIC)

・Theme Ⅰ ：V2V. V2I communication toward AD.

・Theme Ⅱ ・Theme Ⅲ

・ DENSO

・ Panasonic

・ PIONEER

・ The University of

Electro-Communications MLIT METI

National Police Agency

4

On the Freeway

Accepted Car

V2V Comm.

V2V Comm.

V2I Comm.

Merging Car

Speed Control

Merging space Speed Control

On the Public road and intersection

The scene of the merging traffic on the freeway

V2V Comm. Ambulance

Automated driving car

The scene of the meeting an ambulance on the intersection

2 Proof of concept, the application of V2V,

V2I to the merging traffic on the freeway.

6

7

【Lane vehicle】

The lane vehicle makes the merging room with the smooth acceleration and deceleration as

necessary.

【Merging vehicle】

Merging vehicle takes care of the only acceleration timing.

The case of V2V information usage

Thanks for the pre-agreement, safety seems to be achieved.

V2V penetration is the given fact.

Based on the merging vehicle information got from the V2V and self information

8

The case of V2I information usage

Expectant effectiveness even in the low penetration

Due to the non-guaranteed merging, there exists the failing risk of the merging

Based on the lane cruising information got from the V2I and self information

【Lane vehicle】

Specific action is not requested.

【Merging vehicle】

The merging vehicle makes the merging plan and accelerates at the moderate timing.

9

Radio System：700MHz-band ITS system (ARIB STD T-109).

Parameters：Speed, inter-vehicle distance, the number of vehicles.

Evaluation ：Logic validation of the merging process

and merging support.

Example :

Sequence of the V2V agreement

（JARI SHIROSATO TEST COURSE）

High Speed course Lane vehicles

Acceptant vehicle

Merging vehicle

Lane detecting area (120m~0m)

(130m~70m)

Camera

Merging Vehicle A

Lane vehicles B C D

Agreement Process ・Selecting the vehicle

Request of the merging acceptance Passing the origination

Acknowledgement

Acceptance judgment

by each vehicle

Actual Merging Process

… Making room

of the merging

Acceptance

Acceptance

Acknowledgement

Request of

merging

acceptance

Acknowledgement

of the agreement

The origination of the merging zone

10

-200

-100

0

100

200

300

400

500

600

0 5 10 15 20 25

合流区間起点からの距離[

m]

経過時間[秒]

本線1

本線2

本線3

本線4

合流1

Agreement achieved （distance:49m,Speed:91km/h）

Deceleration

Start

Merging

succeeded

smoothly

Distance:70m

Speed：83km/h

Dis

tan

ce

fro

m th

e o

rig

ina

tio

n[m

]

Elapsed Time [sec]

L1

L2

L3

M1

-200

-175

-150

-125

-100

-75

-50

-25

0

25

50

75

100

0 5 10 15 20 25

予測車間距離[

m]

経過時間[秒]

本線1

本線2

本線3

本線4

Agreement

achieved

Predictive inter-vehicle distance

between lane vehicle and merging vehicle

Controlled in keeping the

distance, but・・・・

Pre

dic

tive in

ter-

veh

icle

dis

tan

ce[m

]

Elapsed Time [sec]

Interference zone

(±1sec distance)

L4

Each vehicle’s distance from the origination

of the merging zone

L4

【Experimental Condition】

Main Lane：Regular Speed＝100km/h、The number of the vehicle＝4（from the top,L1,L2,L3,L4）

Merging road：Speed＝40km/h、 The number of the vehicle＝1（M1）

11

12

V2V is effective for the merging traffic support.

On the other hand, as for the agreement,

we should take care of the all surrounding vehicles

unless the side effect develops.

3 Advantages of the V2V, V2I

at the encounter with an ambulance

on the intersection.

14

On the automated driving car encountering an ambulance ・ Use-Case Study

・ Comparison with other media (Siren sound, Red lamp)

Are V2V, V2I technology really necessary for automated driving systems ?

V2V

Ambulance

Please give way and stop!

Automated Car

V2V

Ambulance

Automated Car

Please pull over and stop!

< Ambulance approach > 〈Side-direction approach〉 〈Backward approach〉

15

◆Detection by the Red lamp (From the Camera Images)

30dB

Outside Car

Inside Car

◆Detection by the Siren sound ◆Detection by V2V Communication [m] From the NAGOYA FOT experimental result

-300

200

700

1200

1 2 3 4 5 6 7 8 9 10111213141516171819202122232425262728293031

As for visible recognition, light is vulnerable to the surroundings.

The red lamp could be limited to use as the complementally usage of the Siren sound.

Detective distance is estimated more than

200 m.

Detective distance depends on the micro-phone

equipped place.

Transactions

Distance from a sound source [m]

So

un

d p

ressu

re le

vel [

dB

]

16

Intersection Structure of Motoyama, Nagoya-City

Collecting data of the surrounding cars by using the V2V,

V2I at the ambulance entering to the intersection.

𝑑𝑣

𝑑𝑡= −𝑎

𝑠∗ 𝑣, ∆𝑣

𝑠

2𝛽

𝑣𝑇 +𝑣∆𝑣

2 𝑎𝑏 𝑠∗ 𝑣, ∆𝑣 =

∆𝑣 = 𝑣 : velocity

𝑠∗: distance to the stop line 𝑎 : acceleration rate 𝑏 : deceleration rate β : deceleration index

[ Step 1]

[ Step 2]

Using the above data, developing the expression of mathematical

model of the deceleration in order to use the simulation.

・・・・(1)

・・・・(2)

Smooth stop Rough stop

- 0.35 g

- 0.25 g

The scene of the ambulance entering

Decele

ration [

m/s

2]

Decele

ration [

m/s

2]

17 The comparison of the giving way performance between the sensor used autonomous car and the automated driving using V2V

■ Simulation of “The success rate of the giving way ”

Lane number w/wo V2V Success rate Success rate

(Max deceleration less than 0.25g)

2 lane ✕

2 lane

Without 98% 75%

With 100% 100%

3 lane ✕

3 lane

Without 92% 62%

With 100% 100%

4 lane ✕

4 lane

Without 83% 54%

With 100% 97%

V2V

Ambulance

Camera detective range :120m

Automated car To compare the success rate of the giving way

with or without V2V.

Traffic condition：20 cars/min/lane

Autonomous driving car with

Camera, Microphone

V2V is very effective for the automated driving

on the intersection of public road.

Smooth stop Rough stop

V2V, V2I is the very effective and valuable means

for the automated driving system.

Especially, non-automated car and emergency vehicle

are supposed to be co-existed situation with automated car.

Co-operative automated driving system brings the early recognition,

and leads the social acceptance of the automated driving system.

Thank you