Car2X and Cyber-Physical Systems

The aim of the sub-project is to develop an environment simulation for Car2X communication that makes it possible to test a Car2X control unit holistically. The focus is placed on the greatest possible variety of scenarios, which also allows complex scenarios for future Car2X applications to be simulated. This could be, for example, a highly cooperative driving manoeuvre with more than 50 vehicles. For meaningful test runs, it is important to ensure that the simulation always runs in real time.
Funding Organisation: Deutsche Forschungsgemeinschaft (DFG)

Funding code: 13FH7I03IA

The further development of wireless communication systems in recent years has made technologies available that can sustainably improve vehicle safety and traffic efficiency through their use. In particular, WLAN-V2X and Cellular-V2X shorten the communication latency compared to conventional systems through the direct exchange of information between vehicles. While the KOALA project in the first phase of SPP1835 mainly aimed at reducing the latency generated by the communication system and at latency modelling, the follow-up project KOALA2 addresses the use of this low-latency communication for vehicle automation in a holistic approach. KOALA2 has three main objectives. (i) The exchange of sensor data between vehicles for cooperative perception can exceed the currently available data rate of the communication link. In contrast to previous network congestion control methods, KOALA2 investigates adaptive methods in which the object lists to be transmitted are dynamically adjusted to the currently available data rate, taking into account the current driving situation. (ii) For scenario-based manoeuvre coordination between vehicles in cooperative use cases (such as lane changing, crowd driving/platooning and emergency steering), design patterns for communication will be developed to complement sensor-based manoeuvre planning with explicit communication. For this purpose, the current broadcast-based information dissemination will be extended to include communication in groups of vehicles exclusively comprising the actors of the respective manoeuvre. The design patterns will be used in a messaging framework to ensure reliable communication for planning, executing and completing/aborting cooperative driving manoeuvres. (iii) The developed procedures will be prototypically implemented and experimentally validated. The project sustainably improves cooperative perception and cooperative manoeuvre and trajectory planning as key technologies for safety-relevant use cases in cooperative automated driving.

Funding organisation: Deutsche Forschungsgemeinschaft (DFG)

Funding code: 273374642

In the SAVe research project, the applying THI professors Huber (test methods/effectiveness analysis), Botsch (autonomous driving/KI methods) and Facchi (Car2X systems) have laid the first stone for the creation of a prospective impact analysis for urban traffic space. The particularly accident-prone scenario left turn without right of way was modelled for manual traffic (reference) taking into account stochastic variations in the behaviour of all road users (incl. pedestrians, cyclists, e-scooters) and implemented in the specially developed Monte Carlo simulation environment "THIREKS". An automated vehicle was modelled and integrated as a treatment measure. However, the conservative environment detection purely with vehicle-internal sensor technology poses a risk to the driving function in inner-city traffic due to potential visual obscurations. Therefore, the simulation of the environment detection was extended by an overhead sensor model to estimate the performance gain of infrastructure measures (Car2X). In this sense, the overhead sensor also represents a measure whose effectiveness must be evaluated. Findings have already been presented and published at international conferences.

Artery enables V2X simulations based on ETSI ITS-G5 protocols like GeoNetworking and BTP. Single vehicles can be equipped with multiple ITS-G5 services through Artery's middleware, which also provides common Facilities for these services.

Vanetza is an open-source implementation of the ETSI C-ITS protocol suite. This comprises the following protocols and features among others:

• GeoNetworking (GN)
• Basic Transport Protocol (BTP)
• Decentralized Congestion Control (DCC)
• Security
• Support for ASN.1 messages (Facilities) such as CAM and DENM

Though originally designed to operate on ITS-G5 channels in a Vehicular Ad Hoc Network (VANET) using IEEE 802.11p, Vanetza and its components can be combined with other communication technologies as well, e.g. GeoNetworking over IP multicast.

OpenROUTS3D (Open Realtime OSM- and Unity-based Traffic Simulator 3D) - A multi-purpose driving simulator developed for the needs of Teleoperated Driving.

• Map and Artificial Traffic Creation
• Input and Output management for Teloperated Driving
• Logging System and Replay Feature
• Simulation of Sensors
• Multiplayer
• User Study Mode
• Addon-System

InTAS is the realistic Ingolstadt traffic scenario for SUMO. This scenario comprises the following features:

• Modeled and Validated with real traffic numbers
• 24 hours of simulation
• Actual road network based on the city of Ingolstadt
• Street categories for VANETs simulation: tunnel, under.building, under.bridge
• Simulation of public parking areas
• Real location of all Traffic Lights in city
• Simulation of real Traffic Light Systems
• Buildings shape and location
• Simulation of public transport system: real bus routes with the actual time-table

You can watch InTAS presentation for the SUMO User Conference 2020.