GNSS and M2M for Automated Driving in Japan Masao FUKUSHIMA SIP Sub-Program Director ITS Technical Consultant, NISSAN MOTOR CO.,LTD May. 15.

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1 ICT SPRING EUROPE 2018 GNSS and M2M for Automated Driving in Japan Masao FUKUSHIMA SIP Sub-Program Director ITS Technical Consultant, NISSAN MOTOR CO.,LTD May SIP : Cross-Ministerial Strategic Innovation Promotion Program

2 2 1. SIP Overview SIP : Cross-Ministerial Strategic Innovation Promotion Program

Intensive R&D program promote 5-years R&D (FY2014 - FY2018) enhancing cross-ministerial cooperation 11 research themes From societal issues such as Energy, Next-Generation Infrastructures and Local

Promotion Program Council for Science, Technology, and Innovation Governing board (CSTI Executive Members) Program Director (PD) (assigned to Cabinet Office for each policy issue) 3 Outside experts

3 Intensive R&D program promote 5-years R&D (FY FY2018) enhancing cross-ministerial cooperation 11 research themes From societal issues such as Energy, Next-Generation Infrastructures and Local Resources, including R&D for AD Leadership and total Budget CSTI appointed Program Directors and allocates the budget for each research theme Outline of SIP Cross-Ministerial Strategic Innovation Promotion Program Council for Science, Technology, and Innovation Governing board (CSTI Executive Members) Program Director (PD) (assigned to Cabinet Office for each policy issue) 3 Outside experts AD project name SIP-adus : automated driving systems for universal service Promotion Committee PD (Chairman), relevant ministries, experts, corporations, Cabinet Office (secretariat) Relevant ministries and management corporations and other researchers

4 Promotion Framework of Japanese Government 4 Cabinet Secretariat (IT Strategic Headquarters) Cabinet Office (Council for Science, Technology and Innovation) ITS Japan NPA MIC METI MLIT (National Police Agency) Road traffic safety (Ministry of Internal Affairs and Communications) Info-Communication Technology for ITS (Ministry of Economy, Trade and Industry) Promotion of the automobile industry (Ministry of Land, Infrastructure, Transport and Tourism) Road Bureau Deployment of road infrastructure Road Transport Bureau Safety standards for automobile

Goal & Exit Strategy 5 Ensuring safety and traffic jam reduction on the road Realization and spread of Automated Driving System Realization of advanced

5 Goal & Exit Strategy 5 Ensuring safety and traffic jam reduction on the road Realization and spread of Automated Driving System Realization of advanced next generation public bus service for vulnerable people. Realization of Level 2 on highway by 2020 Prioritization for next step Level 2 on regular road

6 NISSAN ProPILOT 2 Automated Driving Car Example 6

7 Automated Driving Car Example 7 Last Mile in Depopulated Area

8 SIP Research Items 8 Link Base Dynamic Map + GNSS Social Acceptance Pedestrian Traffic Safety V2X Security Human Machine Interface Advanced Rapid Transit

To enhance international cooperation and harmonization 4.

9 Purpose Field Operational Test (FOT) 9 1. To activate the R&D 2. To prove each elemental technology 3. To enhance international cooperation and harmonization 4. To Build Social acceptance Participants Period Autumn 2017 ~ beginning of 2019 Main themes V2X

10 2. Satellite Positioning 10

11 GNSS for Automated Driving 11 On the assumption of using on-board sensors and position determination systems on the dynamic map, it is considered to utilize the satellite positioning information to complement them. Multi-GNSS positioning effectiveness on high speed moving vehicles including QZSS (Quasi-Zenith Satellite System). Quantitative estimation of positioning accuracy by high performance reference method. Multi-Pass reduction effectiveness in the city area. Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

QZSS and GNSS Positioning Accuracy 12 By using the augmentation information created by same way as QZSS L1S, the

55 m (RMS), and it has become clear that it is effective for improving accuracy of single frequency positioning

the error in the lateral direction Multi GNSS is also effective only using satellites which have good broadcast

12 QZSS and GNSS Positioning Accuracy 12 By using the augmentation information created by same way as QZSS L1S, the error in the lateral direction became 0.55 m (RMS), and it has become clear that it is effective for improving accuracy of single frequency positioning results even on moving vehicle. the error in the lateral direction Multi GNSS is also effective only using satellites which have good broadcast ephemeris. However, it took about over 10 sec to get new position after passing the underpass, in this research GPS GPS+QZSS LI-SAIF augmentation Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

13 Driving direction Multi-Pass Reduction 13 Using Multi-GNSS, AD car antenna can get signals from many satellites in the sky. Eliminating satellites which may be affected by reflected wave, positioning accuracy is improved because there are still many available satellites. Using All GNSS in the sky Eliminating Multi-Pass affected satellites Multi-Pass affected satellites Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

Examination of Error Factors 14 In case of using QZSS augmentation signals etc.

generated in both maps and satellite positioning sides, it is suitable to use linear

instead of using the positioning results for each point.

14 Examination of Error Factors 14 In case of using QZSS augmentation signals etc., it is clarified that the main cause of position errors is satellite position and the ground environment such as shielding etc. For utilizing the satellite positioning on the dynamic map, because accuracy errors are generated in both maps and satellite positioning sides, it is suitable to use linear positioning information of continuous positioning results or surface model having error amount instead of using the positioning results for each point. Satellite positioning error Master data measurement positioning error The movement of the earth Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

Security Survey on Satellite Signals 15 Because attacks on the satellite signals has become easier, it was investigated what kind of influences are caused by the attack.

15 Security Survey on Satellite Signals 15 Because attacks on the satellite signals has become easier, it was investigated what kind of influences are caused by the attack. Existing detection methods against attacks were investigated, and resistance to attacks was evaluated. Since positioning results at the timing of attacks are influenced by suppression technique and filtering setting of receivers etc., an evaluation system using a simulator is indispensable in order to evaluate the behavior of a specific receiver. Example: Elimination of attacking signal by array antenna null-setting Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

16 Future Challenges 16 Establishment of rapid positioning recovery technology in the open sky condition after passing underpass, etc. Multi-Pass Reduction algorithm development assuming applicable satellites increase such as Multi GNSS. Evaluation of satellite positioning accuracy and study for utilization of satellite positioning on the dynamic map. Evaluation of satellite positioning reliability measurement method using composite sensors such as Inertial Navigation System. Experiments and evaluation of security attack influence during automated driving. Source: SIP-adus Report Survey on utilization of satellite positioning information for realization of automated driving system 2015, 2016

17 3. M2M for Automated Driving 17

18 Connected Vehicles (V2X/M2X) 18 V2I / V2V (=M2I / M2M :Machine to Machine communication) will be useful when merging, changing lanes and exchanging hazard warning. Confirm gap before merging Gate closed! ETC Gate Start speed adjustment after V2V com. Main stream info. for merging vehicle via V2I ETC gate availability via V2I

19 Connected Vehicles (V2I&V2P/ M2I&M2P) 19 Following information that on-board sensors cannot detect is served by DSRC. Pedestrians info. on pedestrians' crossing, On-coming vehicle, Traffic signal rotation cycle info. Etc. Sensor for Vehicles and Pedestrians DSRC Traffic Signal Info. Attention Attention DSRC Onboard Display Mobile Device

20 Connected Vehicles (V2Network/ M2Network) 20 Possibility of New Generation Mobile Network (5G etc.) have been considered. Mobile Network

21 Thank you for your attention Masao FUKUSHIMA

ITS Radiocommunications in Japan Progress report and future directions

ITS Radiocommunications in Japan Progress report and future directions 6 March 2018 Berlin, Germany Tomoaki Ishii Assistant Director, New-Generation Mobile Communications Office, Radio Dept., Telecommunications