Browse Topic: Wireless communication systems

Items (939)
ABSTRACT A simulation capable of modeling grid-tied electrical systems, vehicle-to-grid (V2G) and vehicle-to-vehicle(V2V) resource sharing was developed within the MATLAB/Simulink environment. Using the steady state admittance matrix approach, the unknown currents and voltages within the network are determined at each time step. This eliminates the need for states associated with the distributed system. Each vehicle has two dynamic states: (1) stored energy and (2) fuel consumed while the generators have only a single fuel consumed state. One of its potential uses is to assess the sensitivity of fuel consumption with respect to the control system parameters used to maintain a vehicle-centric bus voltage under dynamic loading conditions.
Jane, Robert S.Parker, Gordon G.Weaver, Wayne W.Goldsmith, Steven Y.
ABSTRACT The authors studied the effects of different types of armor on the performance of spin-torque microwave detectors (STMD). Working prototypes of novel nano-sized spintronic sensors of microwave radiation for battlefield anti-radar and wireless communications applications are being integrated into Sensor Enhanced Armor (SEA) and Multifunctional Armor (MFA) and tested in SEA-NDE Lab at TARDEC. The preliminary theoretical estimations have shown that STMD based on the spin-torque effect in magnetic tunnel junctions (MTJ), when placed in the external electromagnetic field of a microwave frequency, can work as diode detectors with the maximum theoretical sensitivity of 1000 V/W. These STNO detectors could be scaled to sub-micron size, are frequency-selective and tunable, and are tolerant to ionizing radiation. We studied the performance of a STMD in two different dynamical regimes of detector operation: in well-known traditional in-plane regime of STMD operation and in recently discovered novel out-of-plane regime.
Bankowski, ElenaMeitzler, ThomasPesys, Tomas
This SAE Recommended Practice provides common data output formats and definitions for a variety of data elements that may be useful for analyzing the performance of automated driving system (ADS) during an event that meets the trigger threshold criteria specified in this document. The document is intended to govern data element definitions, to provide a minimum data element set, and to specify a common ADS data logger record format as applicable for motor vehicle applications. Automated driving systems (ADSs) perform the complete dynamic driving task (DDT) while engaged. In the absence of a human “driver,” the ADS itself could be the only witness of a collision event. As such, a definition of the ADS data recording is necessary in order to standardize information available to the accident reconstructionist. For this purpose, the data elements defined herein supplement the SAE J1698-1 defined EDR in order to facilitate the determination of the background and events leading up to a collision in an ADS-operated vehicle. The data elements defined in this document are unique to Level 3, 4, or 5 ADS features, as defined by SAE J3016, and provide additional background of the events leading up to a crash or crash-like event. The data from sensors such as camera(s), LiDAR(s) etc. will provide information in the absence of a human driver. The data included in the ADS data logger is expected to be used in conjunction with the SAE J1698 event data recorder (EDR) record and traditional accident reconstruction analysis. The EDR and ADS data logger will capture information leading up to the triggered event, at a minimum. There are no facts to support that recording data for greater than 5 seconds pre-event would change the outcome of any crash analysis. Thus, the recommended recording duration for a data logger is 5 seconds pre-event, same as an EDR. Due to the potential for sensor and/or communication failure during a crash event, the recommendation is that data should be collected post-crash for impact and rollover sensors for up to 250 ms. ADS technology is still being developed and is not yet commercially deployed. Therefore, this SAE Recommended Practice is intended as a guide toward standard practice and is subject to change to keep pace with experience and technical advances.
Event Data Recorder Committee
This document describes machine-to-machine (M2M) communication to enable cooperation between two or more participating entities or communication devices possessed or controlled by those entities. The cooperation supports or enables performance of the dynamic driving task (DDT) for a subject vehicle with driving automation feature(s) engaged. Other participants may include other vehicles with driving automation feature(s) engaged, shared road users (e.g., drivers of manually operated vehicles or pedestrians or cyclists carrying personal devices), or road operators (e.g., those who maintain or operate traffic signals or workzones). Cooperative driving automation (CDA) aims to improve the safety and flow of traffic and/or facilitate road operations by supporting the movement of multiple vehicles in proximity to one another. This is accomplished, for example, by sharing information that can be used to influence (directly or indirectly) DDT performance by one or more nearby road users. Vehicles and infrastructure elements engaged in cooperative automation may share information, such as state (e.g., vehicle position, signal phase), intent (e.g., planned vehicle trajectory, signal timing), or seek agreement on a plan (e.g., coordinated merge). Cooperation among multiple participants and perspectives in traffic can improve safety, mobility, situational awareness, and operations. However, nothing in this document is intended to suggest that driving automation requires such cooperation in order to be performed safely. Cooperative strategies may be enabled by the sharing of information in a way that meets the needs of a given application. The needs may be expressed in terms of performance characteristics, such as latency, transmission mode (e.g., one-way, two-way), range, privacy and security, and information content and quality. There are several potential technologies for communicating information between the subject vehicle and other participants. This document focuses on application-oriented functionality and does not imply the need for or require any specific functionality associated with communications protocols or the open systems interconnection model layers in a protocol stack. This document addresses the operational and tactical timescales of dynamic driving on ADS-operated vehicles, and excludes strategic functions such as trip scheduling and selection of destinations and waypoints. This information report is intended to facilitate communication and awareness for the design and anticipated development and validation of cooperative driving automation.
Cooperative Driving Automation(CDA) Committee
This SAE Information Report classifies and defines a harmonized set of safety principles intended to be considered by ADS and ADS-equipped vehicle development stakeholders. The set of safety principles herein is based on the collection and analysis of existing information from multiple entities, reflecting the content and spirit of their efforts, including: SAE ITC AVSC Best Practices CAMP Automated Vehicle Research for Enhanced Safety - Final Report RAND Report - Measuring Automated Vehicle Safety: Forging a Framework U.S. DOT: Automated Driving Systems 2.0 - A Vision for Safety Safety First for Automated Driving (SaFAD) UNECE WP29 amendment proposal UNECE/TRANS/WP.29/GRVA/2019/13 On a Formal Model of Safe and Scalable Self-Driving Cars (Intel RSS model) SAE J3018 This SAE Information Report provides guidance for the consideration and application of the safety principles for the development and deployment of ADS and ADS-equipped vehicles. This SAE Information Report is not intended to encompass all aspects of system-level safety for an ADS-equipped vehicle, including communication with other traffic participants. Addressing all identified safety principles is intended to support, but not fully ensure, comprehensive system-level safety. As an SAE Information Report, this document is non-normative, imposes no requirements, and does not address: Requirements for methodology, metrics, and/or acceptance thresholds. Ethics-related safety principles, or any link between the safety principles defined in this document and ethical studies/frameworks. Conformance with safety principles for purposes of liability and/or fault assignment. As ADS technology and deployment are expanded in the future, this document may be reconsidered for future revision including normative requirements.
On-Road Automated Driving (ORAD) committee
This document describes [motor] vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis. It provides a taxonomy with detailed definitions for six levels of driving automation, ranging from no driving automation (Level 0) to full driving automation (Level 5), in the context of [motor] vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways: Level 0: No Driving Automation Level 1: Driver Assistance Level 2: Partial Driving Automation Level 3: Conditional Driving Automation Level 4: High Driving Automation Level 5: Full Driving Automation These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the full range of driving automation features equipped on [motor] vehicles in a functionally consistent and coherent manner. “On-road” refers to publicly accessible roadways (including parking areas and private campuses that permit public access) that collectively serve all road users, including cyclists, pedestrians, and users of vehicles with and without driving automation features. The levels apply to the driving automation feature(s) that are engaged in any given instance of on-road operation of an equipped vehicle. As such, although a given vehicle may be equipped with a driving automation system that is capable of delivering multiple driving automation features that perform at different levels, the level of driving automation exhibited in any given instance is determined by the feature(s) that are engaged. This document also refers to three primary actors in driving: the (human) user, the driving automation system, and other vehicle systems and components. These other vehicle systems and components (or the vehicle in general terms) do not include the driving automation system in this model, even though as a practical matter a driving automation system may actually share hardware and software components with other vehicle systems, such as a processing module(s) or operating code. The levels of driving automation are defined by reference to the specific role played by each of the three primary actors in performance of the DDT and/or DDT fallback. “Role” in this context refers to the expected role of a given primary actor, based on the design of the driving automation system in question and not necessarily to the actual performance of a given primary actor. For example, a driver who fails to monitor the roadway during engagement of a Level 1 adaptive cruise control (ACC) system still has the role of driver, even while s/he is neglecting it. Active safety systems, such as electronic stability control (ESC) and automatic emergency braking (AEB), and certain types of driver assistance systems, such as lane keeping assistance (LKA), are excluded from the scope of this driving automation taxonomy because they do not perform part or all of the DDT on a sustained basis, but rather provide momentary intervention during potentially hazardous situations. Due to the momentary nature of the actions of active safety systems, their intervention does not change or eliminate the role of the driver in performing part or all of the DDT, and thus are not considered to be driving automation, even though they perform automated functions. In addition, systems that inform, alert, or warn the driver about hazards in the driving environment are also outside the scope of this driving automation taxonomy, as they neither automate part or all of the DDT, nor change the driver’s role in performance of the DDT (see 8.13). It should be noted, however, that crash avoidance features, including intervention-type active safety systems, may be included in vehicles equipped with driving automation systems at any level. For automated driving system (ADS) features (i.e., Levels 3 to 5) that perform the complete DDT, crash mitigation and avoidance capability is part of ADS functionality (see also 8.13).
On-Road Automated Driving (ORAD) committee
With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoon technology will be more prosperous in the future. In this article, the cooperative vehicle platoon method on the public road is represented. The method’s architecture is mainly composed of the following parts: decision-making, path planning and control command generation. The decision-making uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change requirements are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of control command generation module, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle model to simulate vehicle dynamics. The front wheel angle and acceleration or braking commands of multiple vehicles are optimized to ensure that the vehicle can well follow the trajectory of the vehicle which is calculated by the control command generation module. At the same time, the energy consumed by performing steering, acceleration and deceleration is also minimized. Finally, in the simulation process, we simulate one direction two lanes scenario. The result shows that the proposed method can effectively handle multi-lane platoon re-configuration scenario.
Chen, GuoshengWu, JianLi, ShuaiZhang, JinghuaDu, ZhiqiangWang, GuojunChen, Zhicheng
csp1071 test Construction of The Traffic Law and Regulation Framework for Automated DrivingSAE-PP-002902/18/2021
Road automated driving as a new generation of information technology and the integration of the transport industry's development has become a new round of global scientific and technological innovation and industrial transformation. This technology will promote the continuous upgrading of the field of road traffic. At present, the government, enterprises, and investors all take this as the goal and direction to accelerate automated driving in China. A reasonable traffic law and regulation system is required to promote the healthy development of automatic driving and fully release scientific and technological innovation subjects' vitality. Until now, China has formulated an official rule concerning the road testing of automated driving. According to this rule, no passenger and freight transportation can be officially applied using automatic vehicles. Therefore, this paper tries to construct the traffic law and regulation framework to promote automated driving development. This paper firstly summarizes the profound reform of automated driving on the road traffic industry in terms of vehicles, infrastructure, practitioners, and transportation services. Based on China's current administrative rules and traffic regulations, the legal and institutional obstacles in automatic driving are analyzed. This paper proposes a traffic law and regulation framework to promote the development of automated driving. The proposed framework can help the transport authority administrate automated driving in legal identity, demonstration application, transportation operation, practitioner management, and scene management. Finally, the policy suggestions to help develop automated driving are put forward. Through enhanced supervision, mutual recognition of qualification, regulation mode innovation, ecosystem construction, and multi-party cooperation, the automated driving market and partners' vitality can be significantly stimulated
SintzADMIN, JeneaneAnthony, Lindsay
7.0.108 - Challenges Faced for Parameterization & Validation of a Small Gasoline Engine Plant Model for Application of EMS DevelopmentSAE-PP-002842/4/2021
Control algorithm development for typical Engine Management System is a challenging task. To develop a reliable control algorithm, proper closed loop testing environment is required. In such development activity, it is of prime importance to validate the algorithm on a standalone target engine. This can be achieved in engine test cell where the actual engine will be controlled by prototype ECU. But this process has drawbacks like higher testing cost, time consuming, non-reusability of test bed etc. Simulation based engine plant model development for closed loop ECU testing is an effective technique for such application. Various generic engine models are available for such application.to suit a particular target engine these model need to be parameterized with precise engine data. The vehicle parameters used for parameterization are typically obtained from actual test and engine design data. This paper elaborates the process and challenges faced while parameterization and validation of engine plant model in simulation environment and steps followed while parameterizing a two cylinder gasoline engine to suit EMS development. Simulations were carried out in Model In Loop (MIL) and Hardware In Loop (HIL). Validation results were compared with actual vehicle data from dynamometer trials and are presented in corresponding sections.
Lname, Fname
7.0.107 - Design and Development of Capacitance Type Level Sensor for Automotive Vehicle ApplicationSAE-PP-002832/4/2021
Fuel level sensor is a device to indicate the level of the fuel in fuel tank fitted in an automobile. This will have features to communicate the fuel level to the dashboard of the vehicle and is of significant attention to the driver during vehicle usage. The advanced instrumentation provides a lot of information on the dashboard display such as information about fuel level, computing mileage, miles to go or miles to empty, fuel economy, average mileage, etc. Presently, the float arm type with Thick Film Resistor(TFR) and Reed switch type fuel level sensors are being used. To have accurate information for computing, the present sensors are not supporting due to its limitations like nonlinearity, fluctuating output due to slosh, output variations in steps and not continuous. The measurement accuracy of the fuel level sensor needs to be focused to rely on the information available on the dashboard instrument. Hence, it is vital to have a sensor with better reliability, accuracy and adaptability. Capacitance technology based level sensor is identified for development as one of the solutions to meet the demands of the above requirements and this paper portrays the complete perspective and design methodology of capacitance based fuel level sensor. The basics of capacitance measurement, design concepts, design validations, proto-type results are elaborated in this paper.
Lname, Fname
Construction of The Traffic Law and Regulation Framework for Automated DrivingSAE-PP-002462/3/2021
Road automated driving as a new generation of information technology and the integration of the transport industry's development has become a new round of global scientific and technological innovation and industrial transformation. This technology will promote the continuous upgrading of the field of road traffic. At present, the government, enterprises, and investors all take this as the goal and direction to accelerate automated driving in China. A reasonable traffic law and regulation system is required to promote the healthy development of automatic driving and fully release scientific and technological innovation subjects' vitality. Until now, China has formulated an official rule concerning the road testing of automated driving. According to this rule, no passenger and freight transportation can be officially applied using automatic vehicles. Therefore, this paper tries to construct the traffic law and regulation framework to promote automated driving development. This paper firstly summarizes the profound reform of automated driving on the road traffic industry in terms of vehicles, infrastructure, practitioners, and transportation services. Based on China's current administrative rules and traffic regulations, the legal and institutional obstacles in automatic driving are analyzed. This paper proposes a traffic law and regulation framework to promote the development of automated driving. The proposed framework can help the transport authority administrate automated driving in legal identity, demonstration application, transportation operation, practitioner management, and scene management. Finally, the policy suggestions to help develop automated driving are put forward. Through enhanced supervision, mutual recognition of qualification, regulation mode innovation, ecosystem construction, and multi-party cooperation, the automated driving market and partners' vitality can be significantly stimulated. Keywords: Traffic Law and Regulation, Automated Driving, Administrative Rules and regulations, Road Testing, Demonstration Application, Commercial Operation
MobrxivNonAdmin, Lindsay
1.1.216 - Tailored Design and Layout for Loss Minimization or Cost-Effective Commonality of Parts - A Contradictory ConflictSAE-PP-002422/3/2021
In order to minimize the development and production costs in the automotive industry, despite steadily increasing variety of models and applications offered by the OEMs, the pressure on standardization of components and production processes is increasing continuously. As a direct consequence, modular engine families are already established with high degrees of common parts and kits as well as standardized interfaces for all vehicle platforms by most manufacturers these days. At the same time, the world adopted and announced massive legal demands concerning the reduction of CO2 emissions for the entire vehicle fleet. In addition to the optimization of the combustion process, the exhaust gas aftertreatment and thermal management, the use of improved and more resilient materials for higher reduction of mechanical friction leads to a significant amount of the realized lowering in fuel consumption respective CO2 emissions. Significant future potential for friction reduction and loss minimization is expected to result from, for example, one for the particular application optimized, on-demand component dimensioning and tailored calibrations. This dedicated fine-tuning approach is contrary to the widely spread application of a clear common part strategy. In the course of this paper the question will be discussed whether the additional cost of a component diversification can be justified within an engine family in contradiction to a best cost approach by using the scaling effects of parts communization.
Mutagaana, Festo
2.0.104 - Tackling Three Critical Issues of Transportation: Environment, Safety and Congestion Via Semi-autonomous PlatooningSAE-PP-002142/1/2021
In recent years, platooning emerged as a realistic configuration for semi-autonomous driving. In the SARTRE project, simulation and physical tests were performed to validate the platooning system not only in testing facilities but also in conventional highways. Five vehicles were adapted with autonomous driving systems to have platooning functionalities, enabling to perform platoon tests and assess the feasibility, safety and benefits. Although the tested system was in a prototype, it demonstrated sturdiness and good functionality, allowing performing conventional road tests. First of all the fuel consumption decreased up to 16% in some configurations and different gaps between the vehicles were tested in order to establish the most suitable for platooning in terms of safety and economy. Additionally, the platooning technology enables a new level of safety in highways. Around 85% of the accident causation is the human factor. With platooning, the human factor is reduced almost entirely, making it a more efficient and safer system. With platooning, the traffic flow is more homogeneous with several vehicles travelling at the same speed and therefore accident situations are less probable while helping to maintain a steady traffic flow with no stop and go situations. For the same reason, the traffic flow is more manageable enabling advanced traffic management. Thus, the traffic congestion can be reduced and, again, reducing another source of emissions. All the potential advantages of a platooning technology which has been developed and tested are studied in this paper through test results and simulations.
Mutagaana, Festo
SAE J2534-1 defines a standard vehicle network interface that can be used to reprogram emission-related control modules. However, there is a need to support vehicles prior to the 2004 model year, as well as non-emission related control modules. The SAE J2534-2 document meets these needs by detailing extensions to API version 04.04 of the SAE J2534-1 specification. It is not required for an interface to be fully compliant with API version 04.04 of the SAE J2534-1 specification to implement some of the features specified in this document. Together, these extensions provide the framework for a common interface to protect the software investment of the vehicle OEMs and scan tool manufacturers. Only the optional features will be described by this document and are based on the December 2004 publication of SAE J2534-1.
Vehicle E E System Diagnostic Standards Committee
ITIS Phrase Lists (International Traveler Information Systems)J2540/2_202012 (Current)12/6/2020
This standard provides a table of textual messages meeting the requirements for expressing International Traveler Information Systems (ITIS) phrases commonly used in the ITS industry. The tables provided herein follow the rules of SAE J2540 and therefore allow a local representation in various different languages, media expressions, etc., to allow true international use of these phrases. The phrases are predominantly intended for use in the description of traffic-related events of interest to travelers and other traffic practitioners. Other phrases exist for other specific specialty areas of ITS, and all such phrases follow a set of encoding and decoding rules outlined in SAE J2540 to ensure that the use of these phrases in messages remain interoperable between disparate types of user equipment. Implementers are cautioned to obtain the most recent set of tables by means of the ITS data registry, a process which involves SAE and other standards-setting organizations, and which is intended to maintain and enhance the level of harmonization among ITS standards set by each of the organizations. This standard defines the normative index values to be used to provide phrases needed by ITS practitioners. This standard provides non-normative textual phrases which MAY be used by implementers to ensure intelligible results. This standard follows the formats and rules established in SAE J2540 in the expressions, manipulations, and use of such tables. It should be pointed out that within the rules established by this standard, a variety of final tables are all considered “conformant” with the standard, and may vary as fits the needs of implementers.
V2X Core Technical Committee
This document is not a standard, it is a candidate for a standard being submitted to SAE for their consideration as a comment to SAE J2735. The term SAE J2735 SE candidate is used within this document to refer to this submission. This document specifies dialogs, messages, and the data frames and data elements that make up the messages specifically for use by applications intended to utilize the 5.9 GHz Dedicated Short Range Communications for Wireless Access in Vehicular Environments (DSRC/WAVE, referenced in this document simply as “DSRC"), communications systems. Although the scope of this Standard is focused on DSRC, these dialogs, messages, data frames and data elements have been designed, to the extent possible, to be of use for applications that may be deployed in conjunction with other wireless communications technologies. This standard therefore specifies the definitive message structure and provides sufficient background information to allow readers to properly interpret the message definitions from the point of view of an application developer implementing the messages according to the DSRC Standards.
V2X Communications Steering Committee
This SAE Aerospace Information Report (AIR) reviews technical, operational, and maintenance data being exchanged between key stakeholders in aerospace asset lifecycle and data standards available for such exchanges. It identifies gaps and non-availability of data standards in certain areas. The scope of the current document is limited to aircraft operations, maintenance and disposal stages post-build phase, and does not include the detailed interactions during the aircraft build phase.
G-31 Electronic Transactions for Aerospace Committee
This SAE standard specifies a message set, and its data frames and data elements, for use by applications that use vehicle-to-everything (V2X) communications systems. While the data dictionary was originally designed for use over DSRC, this document is intended to be independent of the underlying communications protocols used to exchange data between participants in V2X applications.
V2X Core Technical Committee
V2X Communications Message Set Dictionary™ SetJ2735SET_202007 (Historical)7/23/2020
This Abstract Syntax Notation (ASN.1) File is the precise source code used for SAE International Standard J2735. As part of an international treaty, all US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the messages or "ASN specifications". Using the ASN.1 specification, a compiler tool produces the ASN library which will then be used to produce encodings (The J2735 message set uses UPER encoding). The library is a set of many separate files that collectively implement the encoding and decoding of the standard. The library is then used by any application (along with the additional logic of that application) to manage the messages. The chosen ASN tool is used to produce a new copy of the library when changes are made, and it is then linked to the final application being developed. The ASN library manages many of the details associated with ASN syntax, allowing for subtle manipulation to make the best advantage of the encoding style. The J2735 Standard specifies a message set, and its data frames and data elements, specifically for use by applications intended to utilize the 5.9 GHz Dedicated Short Range Communications for Wireless Access in Vehicular Environments (DSRC/WAVE, referenced simply as "DSRC") communications systems. The ASN.1 integrates software for validation of telecommunications and networking. Although the scope of this Standard is focused on DSRC, this message set, and its data frames and data elements, have been designed, to the extent possible, to be of potential use for applications that may be deployed in conjunction with other wireless communications technologies as well. This Standard therefore specifies the definitive message structure and encoding and provides sufficient background information to allow readers to properly interpret the message definitions from the point of view of an application developer implementing the messages according to the DSRC Standards. You may also be interested in: V2X Communications Message Set Dictionary™ the J2735 PDF V2X Communications Message Set Dictionary™ J2735 ASN file includes the ASN file (ZIP format) - download purchase only Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ the J2945/2 PDF Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ J2945/2 ASN file that includes the ASN file (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ Set includes the J2945/2 ASN file and the J2945/2 PDF (ZIP format) - download purchase only. Requirements for Road Weather Applications™ the J2945/3 PDF Requirements for Road Weather Applications™ J2945/3 ASN file that includes the ASN file (ZIP format) - download purchase only. Requirements for Road Weather Applications™ Set includes the J2945/3 ASN file and the J2945/3 PDF (ZIP format) - download purchase only.
V2X Core Technical Committee
V2X Communications Message Set Dictionary™ ASN fileJ2735ASN_202007 (Historical)7/23/2020
This Abstract Syntax Notation (ASN.1) File is the precise source code used for SAE International Standard J2735. As part of an international treaty, all US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the messages or "ASN specifications". Using the ASN.1 specification, a compiler tool produces the ASN library which will then be used to produce encodings (The J2735 message set uses UPER encoding). The library is a set of many separate files that collectively implement the encoding and decoding of the standard. The library is then used by any application (along with the additional logic of that application) to manage the messages. The chosen ASN tool is used to produce a new copy of the library when changes are made, and it is then linked to the final application being developed. The ASN library manages many of the details associated with ASN syntax, allowing for subtle manipulation to make the best advantage of the encoding style. The J2735 Standard specifies a message set, and its data frames and data elements, specifically for use by applications intended to utilize the 5.9 GHz Dedicated Short Range Communications for Wireless Access in Vehicular Environments (DSRC/WAVE, referenced simply as "DSRC") communications systems. The ASN.1 integrates software for validation of telecommunications and networking. Although the scope of this Standard is focused on DSRC, this message set, and its data frames and data elements, have been designed, to the extent possible, to be of potential use for applications that may be deployed in conjunction with other wireless communications technologies as well. This Standard therefore specifies the definitive message structure and encoding and provides sufficient background information to allow readers to properly interpret the message definitions from the point of view of an application developer implementing the messages according to the DSRC Standards. You may also be interested in: V2X Communications Message Set Dictionary™ the J2735 PDF V2X Communications Message Set Dictionary™ Set includes the J2735 ASN file and the J2735 PDF (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ the J2945/2 PDF Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ J2945/2 ASN file that includes the ASN file (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ Set includes the J2945/2 ASN file and the J2945/2 PDF (ZIP format) - download purchase only. Requirements for Road Weather Applications™ the J2945/3 PDF Requirements for Road Weather Applications™ J2945/3 ASN file that includes the ASN file (ZIP format) - download purchase only. Requirements for Road Weather Applications™ Set includes the J2945/3 ASN file and the J2945/3 PDF (ZIP format) - download purchase only.
V2X Core Technical Committee
Vehicle Level Validation Test Procedures for V2V Safety CommunicationsJ2945/1A_202007 (Current)7/8/2020
This document provides vehicle-level data collection, data analysis, and data verification procedures that may be used to verify that an instrument under test (IUT) satisfies the vehicle-level requirements specified in the SAE International (SAE) J2945/1 standard. For the purposes of this recommended practice, “vehicle-level requirements” primarily consist of those requirements which can be verified external to the vehicle. The IUT for these procedures is a configured dedicated short range communications (DSRC) vehicle-to-vehicle (V2V) device as defined in SAE J2945/1 and is installed on a light vehicle. While the IUT is conceptually separated from the vehicle it is installed on, the tests outlined in this document are primarily vehicle-level so the terms “vehicle” and “IUT” can generally be considered interchangeable. Additionally, non-vehicle-level complementary tests, not included in this document, are required to verify that the entire set of requirements specified in SAE J2945/1 is satisfied. This document also includes a traceability matrix to provide traceability between SAE J2945/1 sections and the test procedures. This can be used to ensure thoroughness of testing coverage. The SAE J2945/1 sections that are included in the scope of this revision in this document are indicated in Table 1. SAE J2945/1 major section numbers that are indicated as N/A do not contain any requirements (subsections may include requirements). Sections that are not in scope, such as standards profiles, are expected to be tested and verified as part of device-level certification, prior to vehicle-level testing, which is the primary focus of this document.
V2X Core Technical Committee
This document establishes the minimum training and qualification requirements for ground-based aircraft deicing/anti-icing methods and procedures. All guidelines referred to herein are applicable only in conjunction with the applicable documents. Due to aerodynamic and other concerns, the application of deicing/anti-icing fluids shall be carried out in compliance with engine and aircraft manufacturers’ recommendations. The scope of training should be adjusted according to local demands. There are a wide variety of winter seasons and differences of the involvement between deicing operators, and therefore the level and length of training should be adjusted accordingly. However, the minimum level of training shall be covered in all cases. As a rule of thumb, the amount of time spent in practical training should equal or exceed the amount of time spent in classroom training.
G-12T Training and Quality Programs Committee
This document describes machine-to-machine (M2M) communication to enable cooperation between two or more participating entities or communication devices possessed or controlled by those entities. The cooperation supports or enables performance of the dynamic driving task (DDT) for a subject vehicle with driving automation feature(s) engaged. Other participants may include other vehicles with driving automation feature(s) engaged, shared road users (e.g., drivers of manually operated vehicles or pedestrians or cyclists carrying personal devices), or road operators (e.g., those who maintain or operate traffic signals or workzones). Cooperative driving automation (CDA) aims to improve the safety and flow of traffic and/or facilitate road operations by supporting the movement of multiple vehicles in proximity to one another. This is accomplished, for example, by sharing information that can be used to influence (directly or indirectly) DDT performance by one or more nearby road users. Vehicles and infrastructure elements engaged in cooperative automation may share information, such as state (e.g., vehicle position, signal phase), intent (e.g., planned vehicle trajectory, signal timing), or seek agreement on a plan (e.g., coordinated merge). Cooperation among multiple participants and perspectives in traffic can improve safety, mobility, situational awareness, and operations. However, nothing in this document is intended to suggest that driving automation requires such cooperation in order to be performed safely. Cooperative strategies may be enabled by the sharing of information in a way that meets the needs of a given application. The needs may be expressed in terms of performance characteristics, such as latency, transmission mode (e.g., one-way, two-way), range, privacy and security, and information content and quality. There are several potential technologies for communicating information between the subject vehicle and other participants. This document focuses on application-oriented functionality and does not imply the need for or require any specific functionality associated with communications protocols or the open systems interconnection model layers in a protocol stack. This document addresses the operational and tactical timescales of dynamic driving on ADS-operated vehicles, and excludes strategic functions such as trip scheduling and selection of destinations and waypoints. This information report is intended to facilitate communication and awareness for the design and anticipated development and validation of cooperative driving automation.
Cooperative Driving Automation(CDA) Committee
Requirements for Road Weather Applications™ ASN FileJ2945/3ASN_202004 (Historical)4/23/2020
This Abstract Syntax Notation (ASN.1) file precisely specifies the structure of the data used to support implementation of SAE International Standard J2945/3. As part of an international treaty, data defined in US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the data entities or "ASN specifications". Using the ASN.1 specification, a compiler tool can be used used to produce encodings as required by the encoding rules identified in the standard (SAE J2945/3 messages are encoded with UPER or JER encoding). Both this file and the SAE J2735 ASN.1 files are necessary to collectively implement the data exchanges described in the J2945/3. The combined library can be used by any application (along with the additional logic of that application) to exchange the data over interfaces conformant to J2945/3. SAE J2945/3 specifies interface requirements for weather data collection and distribution using V2X communications, including detailed systems engineering documentation (needs and requirements mapped to appropriate data exchanges). The weather data can be used for traffic management, vehicle safety and other roadway applications that are represented within the National ITS Architecture. You may also be interested in: Requirements for Road Weather Applications™ the J2945/3 PDF Requirements for Road Weather Applications™ Set includes the J2945/3 ASN file and the J2945/3 PDF (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ the J2945/2 PDF Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ J2945/2 ASN file that includes the ASN file (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ Set includes the J2945/2 ASN file and the J2945/2 PDF (ZIP format) - download purchase only. V2X Communications Message Set Dictionary™ the J2735 PDF V2X Communications Message Set Dictionary™ J2735 ASN file includes the ASN file (ZIP format) - download purchase only V2X Communications Message Set Dictionary™ Set includes the J2735 ASN file and the J2735 PDF (ZIP format) - download purchase only.
Infrastructure Applications Technical Committee
Requirements for Road Weather Applications™ SetJ2945/3SET_202004 (Historical)4/23/2020
This Abstract Syntax Notation (ASN.1) file precisely specifies the structure of the data used to support implementation of SAE International Standard J2945/3. As part of an international treaty, data defined in US ITS standards are expressed in "ASN.1 syntax". ASN.1 Syntax is used to define the data entities or "ASN specifications". Using the ASN.1 specification, a compiler tool can be used used to produce encodings as required by the encoding rules identified in the standard (SAE J2945/3 messages are encoded with UPER or JER encoding). Both this file and the SAE J2735 ASN.1 files are necessary to collectively implement the data exchanges described in the J2945/3. The combined library can be used by any application (along with the additional logic of that application) to exchange the data over interfaces conformant to J2945/3. SAE J2945/3 specifies interface requirements for weather data collection and distribution using V2X communications, including detailed systems engineering documentation (needs and requirements mapped to appropriate data exchanges). The weather data can be used for traffic management, vehicle safety and other roadway applications that are represented within the National ITS Architecture. You may also be interested in: Requirements for Road Weather Applications™ the J2945/3 PDF Requirements for Road Weather Applications™ J2945/3 ASN file that includes the ASN file (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ the J2945/2 PDF Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ J2945/2 ASN file that includes the ASN file (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ Set includes the J2945/2 ASN file and the J2945/2 PDF (ZIP format) - download purchase only. Dedicated Short Range Communications (DSRC) Message Set Dictionary™ the J2735 PDF Dedicated Short Range Communications (DSRC) Message Set Dictionary™ J2735 ASN file includes the ASN file (ZIP format) - download purchase only Dedicated Short Range Communications (DSRC) Message Set Dictionary™ Set includes the J2735 ASN file and the J2735 PDF (ZIP format) - download purchase only.
Infrastructure Applications Technical Committee
Modes of Automated Driving System Scenario Testing: Experience Report and Recommendations2020-01-12044/14/2020
With the widespread development of automated driving systems (ADS), it is imperative that standardized testing methodologies be developed to assure safety and functionality. Scenario testing evaluates the behavior of an ADS-equipped subject vehicle (SV) in predefined driving scenarios. This paper compares four modes of performing such tests: closed-course testing with real actors, closed-course testing with surrogate actors, simulation testing, and closed-course testing with mixed reality. In a collaboration between the Waterloo Intelligent Systems Engineering (WISE) Lab and AAA, six automated driving scenario tests were executed on a closed course, in simulation, and in mixed reality. These tests involved the University of Waterloo’s automated vehicle, dubbed the “UW Moose”, as the SV, as well as pedestrians, other vehicles, and road debris. Drawing on both data and the experience gained from executing these test scenarios, the paper reports on the advantages and disadvantages of the four scenario testing modes, and compares them using eight criteria. It also identifies several possible implementations of mixed-reality scenario testing, including different strategies for data mixing. The paper closes with twelve recommendations for choosing among the four modes.
Antkiewicz, MichałKahn, MaximilianAla, MichaelCzarnecki, KrzysztofWells, PaulAcharya, AtulBeiker, Sven
Vehicle Trajectory Prediction Based on Motion Model and Maneuver Model Fusion with Interactive Multiple Models2020-01-01124/14/2020
Safety is the cornerstone for Advanced Driver Assistance Systems (ADAS) and Autonomous Driving Systems (ADS). To assess the safety of a traffic situation, it is essential to predict motion states of traffic participants in the future with mathematic models. Accurate vehicle trajectory prediction is an important prerequisite for reasonable traffic situation risk assessment and appropriate decision making. Vehicle trajectory prediction methods can be generally divided into motion model based methods and maneuver model based methods. Vehicle trajectory prediction based on motion models can be accurate and reliable only in the short term. While vehicle trajectory prediction based on maneuver models present more satisfactory performance in the long term, these maneuver models rely on machine learning methods. Abundant data should be collected to train the maneuver recognition model, which increases complexity and lowers real-time performance. In this paper, a vehicle trajectory prediction method based on motion model and maneuver model fusion with Interactive Multiple Model (IMM) is proposed. Firstly, Constant Turn Rate and Acceleration (CTRA) motion model and Unscented Kalman Filter (UKF) are used to predict vehicle trajectory with uncertainty in the future. Then, vehicle trajectory prediction based on simplified maneuver recognition model is conducted, using temporal and spatial relationship between vehicle historical trajectory and lane lines. After that, vehicle trajectory prediction by integrating motion model and maneuver model with IMM is conducted. Finally, the proposed method is compared with CTRA motion model based vehicle trajectory prediction and lane keeping model (LKM) based vehicle trajectory prediction in two simulation test scenarios. The simulation results indicates that the IMM-based method achieves both excellent prediction accuracy and appropriate prediction uncertainty in the whole prediction horizon. This research can be used to support decision making for Advanced Driver Assistance Systems (ADAS) and Autonomous Driving Systems and leads to improvement of traffic safety.
Xiao, WeiZhang, LijunMeng, Dejian
Selftrust - A Practical Approach for Trust Establishment2020-01-07204/14/2020
In recent years, with increase in external connectivity (V2X, telematics, mobile projection, BYOD) the automobile is becoming a target of cyberattacks and intrusions. Any such intrusion reduces customer trust in connected cars and negatively impacts brand image (like the recent Jeep Cherokee hack). To protect against intrusion, several mechanisms are available. These range from a simple secure CAN to a specialized symbiote defense software. A few systems (e.g. V2X) implement detection of an intrusion (defined as a misbehaving entity). However, most of the mechanisms require a system-wide change which adds to the cost and negatively impacts the performance. In this paper, we are proposing a practical and scalable approach to intrusion detection. Some benefits of our approach include use of existing security mechanisms such as TrustZone® and watermarking with little or no impact on cost and performance. In addition, our approach is scalable and does not require any system-wide changes. To detect intrusions, we propose a combination of TrustZone® secure space approach along with a mechanism of static and dynamic watermarks. The current scope of research is restricted to architectures which provide a secure space to execute software. The research is an enhancement over the current TrustZone® implementation for device control post intrusion. In conclusion, the proposed approach is a simple and scalable mechanism for detection and control of intrusion.
Abhyankar, Ranjit VinayakA, Sreenath
A Connected Controls and Optimization System for Vehicle Dynamics and Powertrain Operation on a Light-Duty Plug-In Multi-Mode Hybrid Electric Vehicle2020-01-05914/14/2020
This paper presents an overview of the connected controls and optimization system for vehicle dynamics and powertrain operation on a light-duty plug-in multi-mode hybrid electric vehicle developed as part of the DOE ARPA-E NEXTCAR program by Michigan Technological University in partnership with General Motors Co. The objective is to enable a 20% reduction in overall energy consumption and a 6% increase in electric vehicle range of a plug-in hybrid electric vehicle through the utilization of connected and automated vehicle technologies. Technologies developed to achieve this goal were developed in two categories, the vehicle control level and the powertrain control level. Tools at the vehicle control level include Eco Routing, Speed Harmonization, Eco Approach and Departure and in-situ vehicle parameter characterization. Tools at the powertrain level include PHEV mode blending, predictive drive-unit state control, and non-linear model predictive control powertrain power split management. These tools were developed with the capability of being implemented in a real-time vehicle control system. As a result, many of the developed technologies have been demonstrated in real-time using a fleet of four instrumented Chevrolet Volts which are equipped with on-board sensors, rapid prototyping embedded controllers, and V2X communication devices. This paper provides an overview of each tool developed, its implementation, energy reduction in isolation, and the net energy reduction of various tool combinations. A breakdown of the energy savings and range extension possible for the connected vehicle control and optimization tool set is provided which shows energy reduction benefits approaching 20% and range extension upwards of 8%, dependent on the driving and traffic scenarios and initial vehicle state of charge.
Oncken, JosephOrlando, JoshuaBhat, Pradeep K.Narodzonek, BrandonMorgan, ChristopherRobinette, DarrellChen, BoNaber, Jeffrey
Decision Making and Trajectory Planning for Lane Change Control Inspired by Parallel Parking2020-01-01344/14/2020
Lane-changing systems have been developed and applied to improve environmental adaptability of advanced driver assistant system (ADAS) and driver comfort. Lane-changing control consists of three steps: decision making, trajectory planning and trajectory tracking. Current methods are not perfect due to weaknesses such as high computation cost, low robustness to uncertainties, etc. In this paper, a novel lane changing control method is proposed, where lane-changing behavior is analogized to parallel parking behavior. In the perspective of host vehicle with lane-changing intention, the space between vehicles in the target adjacent lane can be regarded as dynamic parking space. A decision making and path planning algorithm of parallel parking is adapted to deal with lane change condition. The adopted algorithm based on rules checks lane-changing feasibility and generates desired path in the moving reference system at the same speed of vehicles in target lane. Compared to algorithm for static parking space, the uncertainty of the space between moving vehicles and host vehicle dynamics raises stricter requirements for algorithms. Works are conducted to deal with dynamically changing scenarios, such as design of safety zone and exit conditions to avoid collision. Simulation under PreScan-Simulink environment shows that the proposed method outperforms in lane change scenarios and achieves strong robustness to inter-vehicle dynamics.
Yu, LiangyaoRu, ZeLu, ZhenghongLiang, GuanqunXiong, CenboLanie, AbiWang, Ruyue
Platooning Vehicles Control for Balancing Coupling Maintenance and Trajectory Tracking - Feasibility Study Using Scale-Model Vehicles2020-01-01284/14/2020
Recently, car-sharing services using ultra-compact mobilities have been attracting attention as a means of transportation for one or two passengers in urban areas. A platooning system consisting of a manned leader vehicle and unmanned follower vehicles can reduce vehicle distributors. We have proposed a platooning system which controls vehicle motion based on the relative position and posture measured by non-contact coupling devices installed between vehicles. The feasibility of the coupling devices was validated through a HILS experiment. There are two basic requirements for realizing our platooning system; (1) all devices must remain coupled and (2) follower vehicles must be able to track the leader vehicle trajectory. Thus, this paper proposes two vehicle control method for satisfying those requirements. They are the “device coupling and trajectory tracking merging method” and the “trajectory shifting method”. The device coupling and trajectory tracking merging method consisting of a coupling keeping controller and a trajectory tracking controller. The predominant controller is chosen according to the amount of the coupling device error and the trajectory tracking error. The trajectory shifting method shifts the tracking target trajectory to keep the device coupled. The shifting amount is decided by the estimated turning radius of the leader vehicle. Platooning experiments using two 1:16 scale-model vehicles has been performed on the experiment course containing a straight section and a circular section. Experiment results revealed that the device coupling and trajectory tracking merging method can maintain the coupling of the device while limiting the trajectory tracking error to a certain range. Though the trajectory shifting method can reduce the coupling device error, it fails on both device coupling keeping and trajectory error limiting, owing to the inadequacy in estimating the turning radius of the leader.
Fukui, RuiYe, QiweiSuzuki, AyumiWarisawa, Shin’ichi
Effects of a Probability-Based Green Light Optimized Speed Advisory on Dilemma Zone Exposure2020-01-01164/14/2020
Green Light Optimized Speed Advisory (GLOSA) systems have the objective of providing a recommended speed to arrive at a traffic signal during the green phase of the cycle. GLOSA has been shown to decrease travel time, fuel consumption, and carbon emissions; simultaneously, it has been demonstrated to increase driver and passenger comfort. Few studies have been conducted using historical cycle-by-cycle phase probabilities to assess the performance of a speed advisory capable of recommending a speed for various traffic signal operating modes (fixed-time, semi-actuated, and fully-actuated). In this study, a GLOSA system based on phase probability is proposed. The probability is calculated prior to each trip from a previous week’s, same time-of-day (TOD) and day-of-week (DOW) period, traffic signal controller high-resolution event data. By utilizing this advisory method, real-time communications from the vehicle to infrastructure (V2I) become unnecessary, eliminating data-loss related issues. The effects of three different advice approaches (conservative, balanced, and aggressive) on dilemma zone exposure are analyzed. Proof of concept is carried out by simulating drives through a test-route composed of an arterial that had historical high-resolution traffic signal event logs for a series of actuated-coordinated traffic signals during different TOD and DOW. A comparison was performed between unadvised and GLOSA advised trips obtained from approximately 486,000 simulated trajectories. Results were obtained by analyzing the vehicle’s probability of stopping from utilizing Traffic Engineering dilemma zone theory. Reductions of 93% in the amount of hard brakings and 96% in the number of crossings through red light were observed with the proposed system. This data suggests the feasibility of a probability-based advisory, as well as the viability of utilizing the proposed GLOSA system to minimize dilemma zone exposure.
Saldivar-Carranza, EnriqueLi, HowellKim, WoosungMathew, JijoBullock, DarcySturdevant, James
Trajectory Planning and Tracking for Four-Wheel-Steering Autonomous Vehicle with V2V Communication2020-01-01144/14/2020
Lane-changing is a typical traffic scene effecting on road traffic with high request for reliability, robustness and driving comfort to improve the road safety and transportation efficiency. The development of connected autonomous vehicles with V2V communication provide more advanced control strategies to research of lane-changing. Meanwhile, four-wheel steering is an effective way to improve flexibility of vehicle. The front and rear wheels rotate in opposite direction to reduce the turning radius to improve the servo agility operation at the low speed while those rotate in same direction to reduce the probability of the slip accident to improve the stability at the high speed. Hence, this paper established Four-Wheel-Steering(4WS) vehicle dynamic model and quasi real lane-changing scenes to analyze the motion constraints of the vehicles. Then, the polynomial function was used for the lane-changing trajectory planning and the extended rectangular vehicle model was established to get vehicle collision avoidance condition. Vehicle comfort requirements and lane-changing efficiency were used as the optimization variables of optimization function and the control of trajectory tracking can be obtained by using model predictive control (MPC) method. A lane-changing model based on steering characteristics and safety distance with the system of V2V communication and collaboration strategy was established. The lane-changing trajectory was simulated by MATLAB and the results showed that the lane-changing trajectory can safely realize the lane-changing behavior of 4WS autonomous vehicles.
Ma, FangwuShen, YuchengNie, JiahongLi, XiyuYang, YuWang, JiaweiWu, Guanpu
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