The document discusses the development of autonomous systems for secure road transport of dangerous goods, emphasizing vehicle positioning, movement monitoring, and emergency maneuvering to prevent misuse. It outlines specific objectives, including precise navigation and communication security, while identifying relevant use cases in various urban environments. The ongoing work aims to improve vehicle positioning accuracy using GNSS and local dynamic maps, with preliminary results indicating progress in reliable lane detection and positioning technology.

1. 1
Roland Trauter, Marko Gasparac Daimler AG
European Space Week, Marseille, 5th December 2018
Autonomous emergency manoeuvring
and movement monitoring for road
transport security

2. Development and evaluation of systems built-in or to be used by trucks for secure road
transport of (dangerous) goods. Preventing trucks and transport of goods to be misused for
other purposes such as terror attacks
Specific objectives:
• Precise vehicle positioning and navigation on road (lane) and off road
• Vehicle movement monitoring for dangerous goods with critical area alarm/eCall
• Vehicle communication security for critical information exchange
• Onboard precrash environment detection of vulnerable objects on/off road
• Non-defeatable autonomous emergency manoeuvring for crash prevention on/off road
Objective:
2

3. Priority Use Cases
Pedestrian Shopping Zone Shopping Street
Market Place Tourist Promenade

4. Follow On Use Cases
City Canyon Tunnel
Rail Vehicle CrossingCity Road Crossing Bus Station One Way Road
Cyber Attack Dangerous Goods Transport
Security Zone
Motorway Service Area

5. Vehicle Control
5
Driver Controlled Autonomous Driving Remote Control
Vienna Convention on Road Traffic: Driver Control and Responsibility!

6. Driver Assistance and Safety Systems on Market
6
• Satellite Navigation and Traffic Information
• Electronic Braking System
• Electronic Stability Control
• Adaptive Cruise Control / Preceding vehicle distance control
• Emergency Braking / Stop
• Active Lane Keeping
• Side Guard Assist
• Speed limiter

7. MB Active Brake Assist + Side Guard Assist
7

8. Vehicle Navigation Systems
8
Road Navigation Systems guide driver on the road network to destination
1. Satellite navigation system receiver / GPS / GNSS locates vehicle position coordinates
2. Navigation map matches vehicle position coordinates to a position on a road (of map)
3. Calculation of route from current position to destination using road network
4. Ongoing guidance on direction to destination in front of road junctions or branches
5. On motorways target road lane information is shown
Road Navigation System Limitations
- Does not know on which road lane own vehicle currently is
- No road lane information outside motorways
- No guidance to target road lane on multi-lane roads, junctions, roundabouts
- No guidance on lane change manoeuvres
- No guidance on overtaking manoeuvres
Very few accidents ….

9. Solution Concept
9
Advances in
- GNSS Positioning
- Map Data / Map Matching
- Onboard Environment Sensors
- V-2-X Communication
are combined in Local Dynamic Map:
Provides information for:
- Movement Monitoring
- Critical Area Alarm
- Precrash Object Detection
- Non-defeatable emergency manoeuvres

10. Objectives:
Positioning quality – Reliable vehicle position on decimeter level
Detection of road lane position, road lane departure and off-road positions
Movement monitoring with reliable information on environment / critical areas
Develop approach:
Explorative iterative development cycles with early prototypes adding functionality step by step.
Demonstrations with trucks on and off road will show solutions after 12, 24 and 36 months.
Precise vehicle positioning with GNSS/Galileo
10
== Presentation of preliminary results of ongoing work !

11. Get reliable vehicle position coordinates on decimeter level
Precise vehicle positioning concept
11
Detection of vehicle position on map on road lane or off-road positions
Map-based Electronic Horizon with all on and off road paths

12. 12
Vehicle Positioning Equipment
ublox 8GNSS / Galileo
Daimler Preview GUI
Here Map / ADASRP
Trimble Centerpoint
RTX
Trimble BX982 SAPOS HEPS
SGB Systems
INS Apogee D
GNSS Septentrio

13. 13
Test routes
Stuttgart City / Motorway A8
Stuttgart East Area / Esslingen City
Stuttgart East / Münsingen Area
Urban / Industrial / Rural Areas in
hilly terrain

14. 14
GNSS Availability Stuttgart

15. 15
GNSS Availability on Test Drives
Test Route: Stuttgart City / Motorway A8, 03.09.2018 10:00 – 11:30
Test Route: Stuttgart East Area / Esslingen City, 01.09.2018 10:00 – 12:00

16. Navigation Map Lane Information
16
Use of Here NDS Maps with ADAS Data
• Road coordinates represent center line of road (dark blue)
• Road attribute: Number of road lanes
• Road attribute: Road class
• Calculated road lane markings (light blue)
 Investigation of map road coordinates precision confirmed
a precision on decimeter level
 Road coordinate precision sufficient for lane positioning

17. 17
Vehicle Positioning Examples (1)
Test Route: Stuttgart East Area / Esslingen City, 01.09.2018 10:00 – 12:00

18. 18
Vehicle Positioning Examples (2)
Test Route: Stuttgart City / Motorway A8, 03.09.2018 10:00 – 11:30

19. GNSS + Positioning Services + IMU
Test Route: Stuttgart East Area / Esslingen City
14

20. Vehicle Positioning Prel. Results
20
• Multi-GNSS receivers provide locally a sufficient number of satellites under difficult
conditions with reliable positioning on road lanes
• Galileo satellites currently in operation improve reliable and accurate positioning
• Multi-GNSS receivers with additional Positioning Services provide positioning accuracy on
centimeter level
• Routes with tunnels need Multi-GNSS receivers with IMU for continuous positioning
• NDS Map Lane Information sufficient for lane positioning
 Reliable positioning accuracy on decimeter level currently only with positioning services
 Future Galileo Service with 20 cm accuracy closes the gap for applications which require a
decimeter accuracy

21. THANK YOU.
21
ANY QUESTIONS?
W W W.T R A N S S E C . E U
R o l a n d Tr a u t e r, D a i m l e r A G