SARTRE Demonstration System

© Ricardo plc 2012

Eric Chan, Ricardo UK [email protected] October 2012

SARTRE Demonstration System

The research leading to these results has received funding from the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 233683.

2© Ricardo plc 2012

SARTRE Overview

SARTRE objectives– Develop strategies and technologies for vehicle platoons

• Operating on public motorways / highways • No changes to the road and roadside infrastructure

– Develop a prototype platooning system• Assess under real world scenarios

– Evaluate the environmental, safety, congestion and convenience benefits– Illustrate new business models

• Benefits to lead vehicle operators and platoon subscribers Overall concept

– Lead vehicle driven normally by a trained professional driver

– Following vehicles have automated driving


Concept Definition

Use Cases– Lead and following vehicle drivers – Road / traffic situations

Traffic modelling– Platoon vehicles– Other non-platoon vehicles

Human factors– Drivers in the platoon– Drivers in other surrounding vehicles– Driving simulator

Safety analysis– Extended standard techniques to cover a

system of multiple automated vehicles – Deliberate external malicious threats– Human factors such as operator error/confusion.


Demonstrator System

Five-vehicle road train demonstration system– Mixed vehicle types

• Truck, sedan, estate / station wagon, SUV• FH12 truck• S60, V60, XC60 cars

– Support a range of user scenarios• Normal use

– Joining, leaving, maintaining• Interaction with non-platoon traffic

Constraints– Use existing technologies, or slightly

enhanced versions of existing technologies, combined with advanced software

– No changes to road infrastructure


Sensors and Sensor Fusion

On-vehicle sensors– Radars: front, side, rear– Lasers (fixed)– Cameras

Lead vehicle driver monitoring sensors– Alco-lock– Camera

Sensor fusion – vehicle– Combine data from sensors– Different sensors have different

strengths under different conditions Sensor fusion – road train

– Combine data from vehicles– Form platoon-wide situational awareness


Control Systems, Actuators, V2V Communications

Automated control of vehicle– Longitudinal

• Acceleration and braking– Lateral

• Steering Information used

– On-vehicle sensors– Shared vehicle data

Actuators build on existing technologies– ACC (Adaptive Cruise Control)– EPAS (Electric Power Assisted Steering)

V2V (Vehicle-to-Vehicle) Communications– Shared real-time vehicle data– Enables coordinated control of road train vehicles

with minimal delays


Longitudinal Control

Longitudinal Control has two elements– Using data from the host vehicle sensors

• Control of the distance to the preceding vehicle– Using data from the other vehicles

• Coordinated control of all platoon vehicles• Transmitted over V2V

Driver can always override– Accelerator pedal– Brake pedal– System will take over at

the end of the override Harsh braking

– Coordinated control allowssystem response withminimal delays


Lateral Control

Lateral Control has two elements– Using data from host vehicle sensors and from preceding vehicles (over V2V)

• Creation and tracking of the lead vehicle’s trajectory– Using data from the lead vehicle, transmitted over V2V

• Coordinated control of all platoon vehicles Driver can always override steering wheel

– System will take over at the end of the override Automated steering vs. manual steering

– Comparablesteering wheelmovements


Use Cases

Use Case scenarios cover the sequences of actions which the system will have to deal with– Join & leave from rear or side

• Back Office or ad-hoc– Maintain platoon

• Speed changes• Lane changes• Gap changes

– Special scenarios• Driver manual

overrides• Degraded modes• Non-platoon

vehicles


Human Machine Interface

HMI (Human Machine Interface) components– Touch screen

• Status of the SARTRE vehicle• Status of the whole road train• Driver interaction with the system

– Voice prompts• Important status updates• Driver keeps eyes on the road

– Haptic seat• Alerts driver of status changes

– Steering wheel• Natural override of automated

lateral system– Accelerator and brake pedals

• Natural override of automatedlongitudinal system


Back Office

Register road train availability– Lead vehicle drivers indicate availability and destination of road train

Reservation in a road train– Following vehicle drivers find suitable road trains– Potentially join multiple different road trains in a single journey, depending on

destinations Handles payments and receipts of fees


Conclusions

Five vehicle road train of mixed types Based on existing technologies with

some software enhancements, combined with advanced control software

Up to 90 km/h and 4 m gaps Some real-world scenarios

– Interactions with non-platoon traffic Tested on test tracks and public roads Demonstrator system

– Not a production implementation Fuel consumption results

– 16% for following vehicles– 8% for lead vehicle

SARTRE Demonstration System

Documents

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