The CoAct Project. Participation in the Grand Cooperative Driving Challenge. IVSS Project Report

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1 The CoAct Project Participation in the Grand Cooperative Driving Challenge IVSS Project Report

2 The IVSS Programme The IVSS programme was set up to stimulate research and development for the road safety of the future. The end result will probably be new, smart technologies and new IT systems that will help reduce the number of traffic-related fatalities and serious injuries. IVSS projects shall meet the following three criteria: road safety, economic growth and commercially marketable technical systems. Injury prevention Crash avoidance IVSS Business growth on a global market Product excellence Premium requirements Cost Three interacting components - for better safety, growth and competitiveness: The human being Preventive solutions based on the vehicle s most important component. The road Intelligent systems designed to increase security for all road users. The vehicle Active safety through pro-active technology. 2

3 Title of the report: Final Report from the CoAct Project Author: Jonas Didoff Viktoria Institute Reference number: VI 327 Publication date: Contact persons: Jonas Didoff Cristofer Englund 3

4 Table of contents Summary... 5 Summering på svenska... 6 IVSS targets in the CoAct project... 7 Safety 7 Global business growth & competitiveness... 7 Sense, alert & respond... 7 Project targets and fulfillment... 9 GCDC Competence area... 9 International collaboration... 9 Economy Drivers of change Conclusions Media & publications

5 Summary The CoAct project was started after a pre-study performed by Viktoria Institute in cooperation with SAFER and was funded in part by the IVSS programme. The target of the project was to build knowledge, and establish a network, around cooperative systems in general and platooning in particular. The driver for the project was to have 3 technical universities in Sweden participate in the Grand Cooperative Driving Challenge (GCDC) in the spring of As a result of the cooperation between academia, major OEMs and other automotive suppliers a network should be formed to build on the outcome of the project and to continue the cooperation between the partners in the project from a national perspective as well as starting a dialogue with other leading nations in the area of cooperative driving. Platooning through cooperative systems mean that vehicles can move closer together, with increased safety, without driver intervention (except steering). Platooning also contributes to lower fuel consumption and more effective use of existing road space. Out of eleven teams from all over Europe nine teams made it to the starting line in Helmond (NL) in May of 2011 and the 3 Swedish teams took the 2:nd, 3:rd and 4:th place in the competition clearly putting Sweden in a top position in Europe. A new competence area has been formed under SAFER, Traffic Systems, which will gather the national competences in cooperative systems for future cooperation. A dialogue has been initiated with TNO, the organizers of the 2011 GCDC for continued collaboration. 5

6 Summering på svenska CoAct projektet startades som resultatet av en förstudie genomförd av Viktoria Institute I samarbete med SAFER och finansierades delvis av IVSS programmet. Målet för projektet var att bygga kunskap och etablera ett nätverk, kring kooperativa system I trafiken i allmänhet och kolonnkörning i synnerhet. Projektet centrerades kring ett svensk deltagande i Grand Cooperative Driving Challenge (GCDC) under våren Som ett resultat av samarbetet mellan akademin och bilindustrin skulle ett nätverk byggas upp för att förvalta den kunskap och de kontaktvägar som öppnats via projektet på svensk nivå såväl som kontakter med internationella organisationer inom området kooperativa system. Kolonnkörning genom kooperativa system gör att fordon kan köra närmare varandra, med ökad säkerhet och utan förarens inverkan (utom styrning). Detta bidrar också till lägre bränsleförbrukning och mer effektiv användning av befintligt vägnät. Elva lag från hela Europa anmäldes till tävlingen och nio lyckades komma till start i Helmond (NL) i Maj 2011 och de svenska lagen tog placeringarna 2, 3 och 4 vilket helt klart placerar Sverige i en ledande ställning inom området i Europa. Ett nytt kompetensområde har bildats på SAFER, Traffic Systems, som har till uppgift att samla den nationella kompetensen inom kooperativa system för fortsatt samarbete. Dialog har även upprättats med TNO, den organisation som anordnade tävlingen 2011, för fortsatt samarbete. 6

7 IVSS targets in the CoAct project In general the advantages of platooning (not necessarily in this order) are three: Safety Lower fuel consumption Better use of existing traffic space For further reference on these areas please refer to the project overall Final Report enclosed. Safety Cooperative systems in traffic, in this case platooning, will contribute to improvements in traffic safety with the support from technologies used in the vehicles. All vehicles in a platoon move without intervention from the driver with regards to acceleration and deceleration, including full stop. The driver is still in command of steering and can at any time break out of the platoon. Safety related technology already in modern vehicles such as radar and automatic cruise control are working in collaboration with technology used specifically for platooning such as Vehicle-to-Vehicle (V2V) communication and high precision GPS. Global business growth & competitiveness The Swedish automotive industry is known for it s advanced research in the areas of safety and environmental concern. Platooning through cooperative systems technologies has proven positive effects on fuel consumption, with different reports indicating improvements of between 5 10% reduction. With increasing traffic density globally platooning is already an area with several active projects on-going and Swedish automotive companies should be visible in this arena to maintain the competitive advantage. Sense, alert & respond With increased traffic density and the need for reduced emissions from vehicles platooning is one potential solution and research in this area is intensive. Various projects such as Sartre are ongoing. The focus areas vary with the projects where Sartre is focusing on fully autonomous platoons i.e. no driver interaction. These systems build on the theory that all vehicles in a platoon are equipped with the same identical system for communication and control, hence allowing a higher degree of automation i.e. include steering. 7

8 The GCDC has another approach in that all vehicles are equipped with different systems and equipment. The vehicles have, to the time of the competition, never tested platooning together before. The only common factor is the communication protocol, basically the language in which the cars speak to each other. This creates a more realistic scenario for future realization of platooning, allowing different manufacturers to develop and improve different solutions. All teams that came to the GCDC in may of 2011 were able to take part in platooning after only a few days of verification necessary not least due to safety issues. Hence in less than 6 months of development nine different teams of students from nine countries were able to build a functioning system for platooning. Admittedly these systems are not ready for launch in real traffic but the cost / performance ratio for reaching the present state is clearly promising. The architecture for the systems vary by vehicle but in general, and for all Swedish teams, the systems are built on a combination of existing technology such as radar, camera, and automatic cruise control with additional technology such as communication equipment, digital compass, high precision GPS, and computers for real-time calculation. This is the architecture for the Chalmers vehicle: For further detail please refer to the CoAct Final Report enclosed. 8

9 Project targets and fulfillment Three project targets were set up before the start and all targets were fully achieved. GCDC 2011 The driver in the project was to have three teams from CTH, KTH and HH to participate successfully in the Grand Cooperative Driving Challenge in the Netherlands in May All 3 teams participated successfully in the competition with Halmstad on 2:nd place, Chalmers on 3:rd and KTH in 4:th place. Competence area One target of the CoAct project was to build a competence area for cooperative systems on a national level, involving all major partners in the project with the purpose to build on the experiences and develop the personal networks established. SAFER has established a new competence area named Traffic Systems that will meet regularly to discuss possibilities for future collaboration. International collaboration The GCDC opened up for the possibility to collaborate not only on the Swedish arena but also on an international level. Contact has been established with TNO the organizers of the GCDC 2011 and representatives are planned to participate in the first official meeting for the SAFER Traffic Systems October 12, Discussions will also take place at Viktoria Institute regarding a national competition in 2012 and potential collaboration regarding the next planned GCDC Student project & vehicle industry One major target for the CoAct project from the OEMs was to train and recruit students from the technical schools and after following up the status shortly after the project ended we find that most of the students involved in the project immediately were absorbed by automotive related partners in the project. For other project deliverables please refer to the CoAct Final Report enclosed. 9

10 Economy The total budget frame for the CoAct project was 14,2 MSEK out of which 10,2 MSEK was in-kind contributions from the partners (Industry and Universities) and 4,0 MSEK was a cash contribution from IVSS. During the project SAFER has contributed an additional 300 KSEK cash. Drivers of change Apart from the safety issues discussed above an important driver that will impact the development of cooperative systems is the increased number of vehicles on the roads. It is not a coincidence that the Netherlands organized the GCDC With a densely populated country and increasing traffic congestions there is a need for immediate action in NL as well as in for example in southern Europe, India and China. Congested roads also lead to more accidents, increased fuel consumption / pollution and not least difficulties in planning transports of supplies to industries. There are basically three options to deal with this problem: Reduce the number of vehicles Build more roads Make better use of existing road space Cooperative driving is the solution for the latter alternative. From a Swedish perspective, with a strong foothold in vehicle manufacturing it will be an advantage to present solutions to the increasing problem of congested roads. Conclusions Several projects regarding cooperative traffic systems are in progress. The optimal solution is to find new projects suitable for collaboration on the national and international arena. Swedish vehicle manufacturers will gain from using a collaborative approach, as the idea of cooperative systems must build on standardization at least in the area of communication vehicle-to-vehicle. The CoAct project and the GCDC initiative have proven that it is possible to build a functional, basic, cooperative system in a very short time. New challenges in cooperative systems should be the natural next step perhaps focusing more on the safety aspect and communication between vehicles and infrastructure (V2I), e.g. vehicles blocking the road, pedestrians approaching a pedestrian crossing, cars approaching an intersection, assistance to the driver regarding green wave from traffic lights etc. Also new techniques should be investigated that, apart from communication can interact with the driver to prevent accidents. These areas may well be the focus of the next GCDC a local Swedish competition in preparation for GCDC

11 Media & publications The CoAct project has attracted a lot of attention in media and trade magazines. The GCDC challenge was also covered by Reuters on TV. Presentations and publications are still ongoing this is a summary so far: - Reuters News flash - Intelligent Mobility ITS for sustainable transports ITS European Congress June Green Corridors at Lindholmen Science Park Sep Services in Cooperative Systems on Connected Vehicles of the Future Gothenburg Oct 25-26, Article in Elektroniktidningen (in progress) - Swedish Embedded Award (student team) Stockholm Oct Enclosed. - Technical Papers from all teams (KTH/HH/CTH) as part of GCDC delivery - The Impact of Heterogenity and Order in Heavy Duty Vehicle Platooning Networks 2011 IEEE Vehicular Conference (VNC) Nov RT_2011_092.pdf - Kianfar, Roozbeh; Falcone, Paolo; Fredriksson, Jonas: A Receding Horizon Approach for Designing String Stable Cooperative Adaptive Cruise Control.IEEE Conference on Intelligent Transportation Systems - ITSC 2011, October 5-7, 2011, Washington, DC, USA, Ex-job reports: J. Andersson, F. Bergh, "Channel measurement and communication module for the Grand Cooperative Driving Challenge", Teknologie Kandidat Examensarbete, Högskolan i Halmstad, Maj, 2011 S. Mak, M. Bjäde, "Design and Implementation of Cooperative Adaptive Cruise Control", Teknologie Kandidat Examensarbete, Högskolan i Halmstad, Maj, 2011 J. Kjellberg, Implementing control algorithms for platooning based on V2V communication, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, Apr E. Stålklinga, Specifications and strategies for cooperative control of platooning vehicles, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, S. Pettersson, Design and execution of tests - thesis for GCDC, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, M. Björk, Architecture for autonomous cooperative driving systems, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, M. Khaksari, Analysis of communication architecture of GCDC 2011, Master s thesis, BTH Blekinge Institute of Technology, Stockholm, Sweden, Apr

12 M. A. A. Khan, Specifications and strategies for state estimation of vehicle and platoon, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, Aug K.-Y. Liang, Linear quadratic control for heavy duty vehicle platooning, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, L. G. Alonso, Formal requirements specification, cooperative driving system GCDC 2011, use case, Master s thesis, KTH Royal Institute of Technology, Stockholm, Sweden, Apart from publications and presentations above the CoAct produced 2 films about the project. TNO also produced two promotional films around the event. These films have been made available to TFV as a part of the final delivery. 12

13 IVSS partners: Postal address: IVSS/Swedish Road Administration, SE Borlänge, Sweden Street address: IVSS/Swedish Road Administration, NAVET, Lindholmspiren 5, Gothenburg, Sweden Phone: +46 (0)