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« Mieux connaître les systèmes de navigation par satellite
pour une mobilité plus intelligente »
Journée technique ATEC ITS France
Lundi 16 mars
à l’UIC
16, rue Jean Rey
75015 Paris
L’équipement du parc automobile : quelle place pour le
GNSS ?
Philippe Gougeon – Valeo Comfort & Driving Assistance
Directeur Projets Collaboratifs
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 2
Valeo Strategy
What is the role of GNSS in line with this strategy?
CO2
emissions:
Reduction
and
Innovation
Intuitive
Driving:
Secure
Affordable
Efficient
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 3
Valeo Research & Innovation: a success story
From Ultrasonic Park Assistance…
… to Urban Assistance
PACE Award:
The Benchmark for Supplier
Innovation
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 4
Automotive functions already using GNSS
Navigation Traffic Information
Speed Limit Assist e-Call
etc.
[TomTom]
[Speedcam]
[V-Trafic]
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 5
Next Automotive Functions using GNSS
Cooperative ITS Automated Driving
[AD activities in Japan, T.Yamamoto 7/2014]
[BMW Urban Driving Experience Challenge 2012]
[C2C consortium, N.Andersen, 11/2014]
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 6
Automated Driving Levels
Park Assist
Lane Departure Warning
Blind Spot Detection
Forward Collision Warning
Cross Traffic Alert
Park4U®
Lane Keeping Assist
Adaptive Cruise Control
Emergency Braking
Evasive Maneuver
Park4U® Remote
Traffic Jam Assist
ACC with Steering Assist
Overtake / Merge Assist
Traffic Jam Chauffeur
Motorway Chauffeur
Valet Park4U®
Traffic Jam Pilot
Motorway Pilot
Taxi Function
Driverless Driving
Driver executes
longitudinal AND lateral
control at all time
Driver executes either
longitudinal OR lateral
control not executed by the
system
Driver constantly
supervises the system and
takes over immediately
when required
Driver constantly
supervises the system and
takes over immediately
(~1s) when required
Driver takes over upon
request within lead-time
(<10s) (no constant
supervision required)
Driver takes over upon
request within lead-time
(no supervision required)
Driver may activate system
at any time
System can provide
information and alerts
System executes either
longitudinal OR lateral
control when activated
System executes
longitudinal AND lateral
control when activated
System deactivates after
requesting driver takeover
with a sufficient lead-time
System permits activation
only for specified conditions
System executes
longitudinal AND lateral
control when activated
System initiates deactivation
when specified conditions
are no longer met
System transition to minimal
risk condition if driver does
not take over
System deactivates only
after driver takes over
System permits activation
only for specified conditions
System executes
longitudinal AND lateral
control when activated
System transition to minimal
risk condition in case of a
system error or when
reaching the system
limitation
System executes
longitudinal AND lateral
control when activated
Non
Automated
Assisted
Partial
Automation
Conditional
Automation
High
Automation
Full
Automation
Examples
*) based on SAE definitions
0 1 2 3 4 5
permanent
supervision
temporary
supervision
no
supervision
driverless
only specific
non-driving tasks
any
non-driving tasks
return to safe state
in case the driver doesn’t take over
any condition specific conditions any condition
alert only longitudinal OR lateral longitudinal AND lateral
––
foot OR hand
off
foot AND hand
off
eyes
off
mind
off
driver
off
Highly automated Fully automatedBASt/VDA:
Driver Monitoring required
Requires adaptation of the legal frame-work
Driver
(inautomatedmode)
System
(inautomatedmode)
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 7
Current localization accuracy vs needs
Next Gen ego-localization device is necessary,
at affordable cost
Use cases Current GPS 2014 Expected
C2X – Safety
Collision alert
X-Y : 5m
Z : 50m
X-Y : 0.5m
Z : 1m
Automated Driving
level 4
X-Y : 5m
Z : 50m
X-Y : 0.1m
Z : 1m
Yaw: 2°
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 8
Difficult but frequent situations
Motorway ramps Tunnels
Intersections Multi-level car parks
[U-blox][Nokia-HERE]
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 9
Sensor Fusion for best localization accuracy:
S
TB
L
L
G
I
GNSS
R
C2X
Laser scanners
Radars
Wheel speed sensors
Cameras
Ultra Sonic Park Assist sensors
Brake pedal sensor
C2X communication
Gear position sensor
GPS, Glonass, Galileo
Yaw rate,lateral & longitudinal
acceleration sensor
Leveling sensor
Rain Light Tunnel Mist Sensor
Torque & Steering angle sensor
Throttle pedal sensor
B
G
L
T
I
GNSS
S
R
C2X
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 10
Conclusions
Automated Driving: evolutionary process, level 3
then level 4
Fail safe approach for level 4 Automated Driving
Work in progress !
ITS : Mieux connaître le GNSS pour changer de paradigme
16/03/2015 11

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Philippe GOUGEON, Collaborative Project Director – Valeo, Comfort & Driving Assistance Business Group

  • 1. « Mieux connaître les systèmes de navigation par satellite pour une mobilité plus intelligente » Journée technique ATEC ITS France Lundi 16 mars à l’UIC 16, rue Jean Rey 75015 Paris L’équipement du parc automobile : quelle place pour le GNSS ? Philippe Gougeon – Valeo Comfort & Driving Assistance Directeur Projets Collaboratifs
  • 2. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 2 Valeo Strategy What is the role of GNSS in line with this strategy? CO2 emissions: Reduction and Innovation Intuitive Driving: Secure Affordable Efficient
  • 3. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 3 Valeo Research & Innovation: a success story From Ultrasonic Park Assistance… … to Urban Assistance PACE Award: The Benchmark for Supplier Innovation
  • 4. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 4 Automotive functions already using GNSS Navigation Traffic Information Speed Limit Assist e-Call etc. [TomTom] [Speedcam] [V-Trafic]
  • 5. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 5 Next Automotive Functions using GNSS Cooperative ITS Automated Driving [AD activities in Japan, T.Yamamoto 7/2014] [BMW Urban Driving Experience Challenge 2012] [C2C consortium, N.Andersen, 11/2014]
  • 6. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 6 Automated Driving Levels Park Assist Lane Departure Warning Blind Spot Detection Forward Collision Warning Cross Traffic Alert Park4U® Lane Keeping Assist Adaptive Cruise Control Emergency Braking Evasive Maneuver Park4U® Remote Traffic Jam Assist ACC with Steering Assist Overtake / Merge Assist Traffic Jam Chauffeur Motorway Chauffeur Valet Park4U® Traffic Jam Pilot Motorway Pilot Taxi Function Driverless Driving Driver executes longitudinal AND lateral control at all time Driver executes either longitudinal OR lateral control not executed by the system Driver constantly supervises the system and takes over immediately when required Driver constantly supervises the system and takes over immediately (~1s) when required Driver takes over upon request within lead-time (<10s) (no constant supervision required) Driver takes over upon request within lead-time (no supervision required) Driver may activate system at any time System can provide information and alerts System executes either longitudinal OR lateral control when activated System executes longitudinal AND lateral control when activated System deactivates after requesting driver takeover with a sufficient lead-time System permits activation only for specified conditions System executes longitudinal AND lateral control when activated System initiates deactivation when specified conditions are no longer met System transition to minimal risk condition if driver does not take over System deactivates only after driver takes over System permits activation only for specified conditions System executes longitudinal AND lateral control when activated System transition to minimal risk condition in case of a system error or when reaching the system limitation System executes longitudinal AND lateral control when activated Non Automated Assisted Partial Automation Conditional Automation High Automation Full Automation Examples *) based on SAE definitions 0 1 2 3 4 5 permanent supervision temporary supervision no supervision driverless only specific non-driving tasks any non-driving tasks return to safe state in case the driver doesn’t take over any condition specific conditions any condition alert only longitudinal OR lateral longitudinal AND lateral –– foot OR hand off foot AND hand off eyes off mind off driver off Highly automated Fully automatedBASt/VDA: Driver Monitoring required Requires adaptation of the legal frame-work Driver (inautomatedmode) System (inautomatedmode)
  • 7. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 7 Current localization accuracy vs needs Next Gen ego-localization device is necessary, at affordable cost Use cases Current GPS 2014 Expected C2X – Safety Collision alert X-Y : 5m Z : 50m X-Y : 0.5m Z : 1m Automated Driving level 4 X-Y : 5m Z : 50m X-Y : 0.1m Z : 1m Yaw: 2°
  • 8. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 8 Difficult but frequent situations Motorway ramps Tunnels Intersections Multi-level car parks [U-blox][Nokia-HERE]
  • 9. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 9 Sensor Fusion for best localization accuracy: S TB L L G I GNSS R C2X Laser scanners Radars Wheel speed sensors Cameras Ultra Sonic Park Assist sensors Brake pedal sensor C2X communication Gear position sensor GPS, Glonass, Galileo Yaw rate,lateral & longitudinal acceleration sensor Leveling sensor Rain Light Tunnel Mist Sensor Torque & Steering angle sensor Throttle pedal sensor B G L T I GNSS S R C2X
  • 10. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 10 Conclusions Automated Driving: evolutionary process, level 3 then level 4 Fail safe approach for level 4 Automated Driving Work in progress !
  • 11. ITS : Mieux connaître le GNSS pour changer de paradigme 16/03/2015 11