25th ITS World Congress, Copenhagen, Denmark, 17-21 September 2018
Paper ID EU-TP1493 Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS Thomas Novak*1, Walter Aigner2, Wolfgang Schildorfer2, Andreas Kuhn3, Oliver Schauer4 1. SWARCO Futurit, Austria,
[email protected] 2. HiTec, Austria,
[email protected] 3. AnData, Austria,
[email protected] 4. Logistikum – Department of Logistics at the University of Applied Sciences Upper Austria, Austria,
[email protected]
Abstract (Semi-)automated truck convoys have the potential of generating substantial reductions in energy use and emissions. Here we outline how infrastructure-based management (I2V) adds significant momentum. We present some of the rationale from our recently started national lighthouse demonstration project, link our project design to other ongoing truck-platooning projects, present four use-cases, key research questions, planned solutions, evaluation processes and an outlook into the near future. With a first generation of innovative truck-convoys expected to come to market soon, all ongoing demonstration exercises might help testing the bottlenecks for C-ITS deployment. The national lighthouse project Connecting Austria's unique contribution to C-ITS demonstration is the specific focus on infrastructure issues and on parameterized traffic perspectives when evaluating energy-efficient semi-autonomous truck convoys. This uniqueness includes convoys at intersections before entering highways and after leaving highways. Connecting Austria links Austrian excellence to other leading international initiatives on energy-efficient truck convoys. Keywords: Automated driving, Truck convoy, C-ITS, I2V, Platooning, traffic management, climate targets Introduction In a recent post on progress in truck platooning [1] Richard Bishop maintains that adding truck systems across the automation spectrum brings benefits far outweighing system costs. And he justly distinguishes between media phantasies of driverless trucks and innovative forms of connectivity between trucks. However, he and many other teams globally seem to anticipate no role or a marginal role for infrastructure-based knowledge or management. On the other hand, a recent call for ideas across UK industry [2] intends to ensure the country has roads that are fit for the future and ready for the widespread introduction of driverless vehicles. Within Austrian government's current strategy on connected and automated driving [3], infrastructure-based approaches are a significant element to both
Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
leveraging the potential energy savings from intelligent automated transport as well as maintaining ambitious mobility targets. Connecting Austria is one strong element within Austrian government's commitment to continually contribute to connected and automated driving in Europe. Presentation of the project and its objectives Key objective in Connecting Austria is evidence-based evaluation of energy-efficient truck convoys as a pre-requisite for competitive strength and quality of life in a globalized economy. An Austrian lighthouse project 2018 to 2021 cannot possibly repeat other international project designs in the field. Connecting Austria focusses on specific topics from the perspective of a small transit country with challenging topography and bundles global innovation excellence. What is needed to safely and efficiently set up an energy-efficient convoy, to maintain a convoy, and to go back to a regular transport mode? What are pre-requisites and accompanying measures to prepare the future of energy efficient and safe (semi)autonomous truck convoys. Activities and projects on energy efficient truck-convoys Mercedes and Freightliner Trucks, Volvo Trucks, Scania, IVECO, MAN, and DAF are each involved in pilot projects on energy-efficient truck convoys. Several firms have pre-announced commercial availability of first products in this field. On top of this partly overlapping, field tests have started or are getting started at least in Australia, Austria, Germany, Italy, Japan, the Netherlands, Singapore, Sweden, Switzerland, the U.K. and the US. Use cases Within the project we specify four use cases in the field of connected and automated truck convoys. The focus is on two or three trucks per convoy driving in an interurban and urban environment. Use case 1 – Trucks entering the motorway Three trucks leave the freight distribution centre for the motorway. Via a road-side unit, the trucks receive the information whether it is permitted to form a convoy on the motorway section. Criteria for the situation adaptive allowance of convoy formation may e.g. be the traffic condition or the current environmental conditions. The trucks form a convoy and send information about the status of the convoy via their on-board unit to the infrastructure. Use Case 2 – Truck convoy approaching a hazardous location Three trucks have formed a convoy and approach a danger spot (see Figure 1). They receive information via a road-side unit that the convoy must be disbanded. The hazardous location (e.g., construction site) is closed for convoys for a limited period of time. The trucks disband the convoy and
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Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
send out information about the status of the convoy.
Figure 1 - Truck convoy approaching a hazardous location
Use Case 3 – Truck convoy leaving the motorway A convoy of three trucks drives to a motorway exit. One truck wants to leave, two continue on the motorway. The trucks receive information via a road-side unit that the convoy must be disbanded at the exit. The convoy is disbanded and a truck drives on the secondary road network. Use Case 4 – Truck convoy crossing an intersection
Figure 2 – Truck convoy crossing an intersection
The convoy of three trucks drives in the secondary road network in the direction of an intersection with traffic lights, pedestrian crossings, public transport and other road users. The convoy sends out the information about the convoy formation or the current status via the on-board unit. Based on criteria such as the time of day, the pedestrian presence, possible prioritization of public transport or
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Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
the traffic situation, the convoy receives information via a local road-side unit whether the convoy can pass the intersection with the current status, has to disband or expand. Research questions The scope of research is structured in the four most relevant research fields: technical, organisational, traffic safety related, and economic and environmental questions. In the following some typical examples are mentioned focusing on infrastructure related research questions. Technical research questions •
When and where can a convoy be formed, either before or after the motorway ramp?
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What are suitable control strategies for the individual use cases and scenarios?
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When should vehicles increase or decrease the distance gap among them depending on weather, traffic and road conditions?
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What is the appropriate size of a convoy to achieve the desired positive effects on the traffic situation?
Organisational research questions •
Who controls the traffic on the motorway?
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Who controls the traffic after the motorway exit at intersections with traffic lights?
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Who takes care of the prioritization with regard to different road users: public transport, cyclists, pedestrians, freight traffic, motorized (semi-automated / electric) private transport)?
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Can the status of the convoys (e.g., adequate distances depending on traffic and road conditions) be given by the infrastructure managers or traffic management systems depending on the current traffic situation and environmental conditions?
Traffic safety related research questions •
What are safety-critical situations in convoys concerning different road types and traffic situations (e.g., intersections with traffic lights)?
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How can road safety be ensured from the perspective of the road operator of motorways and the secondary road network (for example road signs, markings, C-ITS)?
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How should intersections be equipped on the infrastructure side in order to increase traffic safety with increasing complexity of mixed traffic (through automated traffic)?
Economic and environmental research questions •
What effect on the utilized capacity of the transport fleet result from convoys?
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How can truck drivers benefit from the convoy?
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To what extent can a convoy contribute to greater traffic efficiency from the perspective of a road operator?
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Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
Solution description Automated driving in general and truck convoys in particular are a broad topic. Therefore, the project selected three crucial technical focus areas to concentrate on: sensor, data exchange and infrastructure related control strategies. Sensor Infrastructure side traffic detectors are available on the market in a variety and are also installed on motorway and at intersections. They differ in their functionality, size, data interface, installation types and their costs. Under the keyword "Smart", detectors are sold that already process certain raw data in a detector and already supply processed or aggregated data. The goal is to setup a portfolio of detectors, which is minimally necessary to meet the requirements of the four application scenarios. In addition, the data of the various detectors are processed (sensor fusion) and scenarios are derived. The data from the various sensors are exchanged via a single interface. Data exchange The exchange of data is based on I2V (infrastructure to vehicle) and V2I (vehicle to infrastructure) communication. The intention is to extend the current data set to exchange convoy or pedestrian related data. For example, a data element may be to send the information “pedestrian ahead” to the truck to extend the view of the vehicle on the current traffic situation. In a second step, historical data may be exchanged between vehicle and infrastructure. For example, a vehicle receives the information that it is approaching an intersection where some hazardous events occurred in the last three hours (i.e., black spot). The data profile is going to be specified and brought in to European standardisation in order to have a harmonised approach across Europe. Infrastructure based control strategies Using a novel approach of prediction of road user models, we can link motion sequences to semantic scene variables to a) obtain semantically structured motion patterns (similar to a sentence in text analysis) and b) consider environmental context. For this research project, it is important to extend the aspect of the environmental context with other contextual aspects such as time of day or weather. Evaluation process The solutions are going to be evaluated in a multistep approach in order to get evidence based answers to the research questions referring to e.g., traffic efficiency or traffic safety. Figure 3 shows the individual steps
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Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
Figure 3 - Test approach
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Simulation: Some research questions and solutions can only be evaluated in a simulation, e.g., effect of truck convoys on the traffic efficiency over a longer distance on the motorway
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Tests in a closed environment means testing some scenarios e.g., at an intersection on a private parking area with a test installation of the required infrastructure.
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In a further step closed tests with multiple dedicated vehicles on the road are scheduled. Therefore, vehicles from selected partners are driving on the road with dedicated instructions.
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Finally, open tests with vehicles on the road are going to take place. It is intended to invite the vehicle manufactures to test their equipment in cooperation with the solutions of the project.
Conclusion and outlook The paper presents an innovative approach to infrastructure-based management of truck convoys with the help of C-ITS. It outlines how a solution may look like and what use cases are covered. Three technological focus areas are included which makes it unique compared to other truck convoy (i.e. platooning) projects across Europe. We have shared research questions to stimulate exchange at ITS world 2018 and foster take-up and validation exercises. We feel our paper significantly adds momentum to the mainstream vehicle focus when discussing project designs or impacts from connected and automated driving. Automation is not limited to vehicles. Infrastructure-related processes will see significant levels of automation. And infrastructure-based management of connected and automated driving has the potential to significantly leverage the bottom line impact of truck convoys and one of the dynamically evolving fields in transport and mobility. We continuously monitor the activities in Europe and we will match our evaluation designs in Connecting Austria with what is to be published soon on designs and results from other demonstration projects: E. g. C-Roads Work Package Evaluation on the European C-Roads deployment activities. A study underway by the University of Florida and Bishop Consulting evaluating platooning impacts on
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Connecting Austria – Infrastructure-based management of automated truck convoys with C-ITS
surrounding traffic, enforcement, administrative processes, and infrastructure and is announced to be published in early 2018. New projects in the 2017 CEDR call will start gathering and comparing lessons learnt from field tests globally. This will follow activities within the DRAGON project (Driving automated vehicle growth on national roads) within the 2014 Call [4]. In addition, logistic hubs can be also seen as one element of infrastructure. References 1. Richard Bishop: While Driverless Trucks Get All the Press, Truck Platooning is Quietly Stealing the Show (January 11, 2018) https://www.linkedin.com/pulse/while-high-automation-gets-all-press-truck-platooning-richard-bis hop/ 2. Adam Frost: UK agencies launch 'Roads for the Future' competition to help prepare for CAVs (January 16, 2018) http://www.traffictechnologytoday.com/news.php?NewsID=89078 3. Austrian Ministry of Transport, Innovation and Technology's Strategy (Automatisiert – Vernetzt – Mobil), June 2016. 4. DRAGON: Driving automated vehicle growth on national roads. CEDR Call 2014: Mobility and ITS D4.1 Final Report. Peter Vermaat, Nick Reed (TRL), Martijn de Kievit, Isabel Wilmink (TNO), Adrian Zlocki (IKA), Steven E. Shladover (California PATH).
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