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Das Kapitel geht auf die Bemühungen des AUGMENTED CCAM-Projekts ein, die vernetzte, kooperative und automatisierte Mobilität (CCAM) in Madrid durch die Entwicklung und Evaluierung von 11 neuen PDI-Unterstützungslösungen voranzutreiben. Es konzentriert sich auf vier zentrale PDI-Lösungen, die in Madrid zum Einsatz kommen sollen: Ausgestattete VRUs zum Schutz, Verkehrsmanagementoptimierung auf der Grundlage von Sondenfahrzeugdaten von CCAM, sich nähernde Notfallfahrzeuge und Ad-hoc-VRU-Schutz auf Abruf für geschlossene Umgebungen. Der Text gibt einen Überblick über die Teststandorte in Madrid, einschließlich einer städtischen Freiverkehrszone in Villaverde und eines halb kontrollierten privaten Umfelds im Carabanchel-Busdepot. Jede PDI-Lösung wird detailliert beschrieben und die verwendeten Technologien wie KI-basierte Kameras, Digital Twin und Vehicle-to-Everything (V2X) hervorgehoben. In diesem Kapitel werden auch die potenziellen Vorteile dieser Lösungen für die Erweiterung von CAV Operational Design Domains, die Verbesserung des Verkehrsmanagements und die Verbesserung der Verkehrssicherheit diskutiert. Das Projekt befindet sich derzeit in der Entwicklungsphase, erste Vorführungen sind in naher Zukunft geplant.
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Diese Zusammenfassung des Fachinhalts wurde mit Hilfe von KI generiert.
Abstract
The work described in this paper provides valuable insight into the novel PDI solutions to be developed for CCAM support within the Horizon Europe-funded AUGMENTED CCAM project. To this aim, two different test sites are being prepared in Madrid, Spain, for the implementation and demonstration of four cutting-edge solutions: Equipped Vulnerable Road Users (VRU) protection; Traffic Management Optimization based on Probe Vehicle Data (PVD) from CCAM; Emergency Vehicle approaching; and Ad-hoc on-demand unmanned aerial vehicle (UAV) based VRU protection for closed environments. This document unveils how the proposed services underline the vast potential of CCAM when synergized with advanced Infrastructure support, which is not only limited to the extension of the Operational Design Domain of Connected and Automated Vehicles. This approach also demonstrates PDI’s capacity to significantly enhance road safety, traffic efficiency and sustainability. Additionally, the importance of the Digital Twin is highlighted as an indispensable element for advanced traffic management and comprehensive infrastructure monitoring.
1 Introduction
In recent years, Europe has seen remarkable progress in the advancement of Connected, Cooperative and Automated Mobility (CCAM) in Europe. The European Commission has taken decisive actions to enhance its growth and adoption, such as the creation of the CCAM Single Platform (2019) and the CCAM Partnership (2020) [1]. Despite these steps, CCAM still faces great challenges, such as the technological complexity of its solutions or the great investments needed in Physical and Digital Infrastructure (PDI).
The AUGMENTED CCAM project aims to enhance the implementation of CCAM by developing and evaluating 11 new PDI support solutions to extend the Connected and Automated Vehicles (CAV) Operational Design Domains (ODD) and the intelligence and functionalities of CVs. This paper presents the work conducted for the implementation of the four PDI solutions to be deployed in Madrid: Equipped VRUs protection (PDI 1); Traffic Management Optimization based on Probe Vehicle Data from CCAM (PDI 2); Emergency Vehicle approaching (PDI 3); Ad-hoc on-demand UAV-based VRU protection for closed environments (PDI 4).
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2 Madrid Test Site and PDI Solutions
Madrid disposes of two different test sites: an urban open-traffic area (Fig. 1a) and a semi-controlled private environment in the inside and surroundings of an EMT bus depot (Fig. 1b). Villaverde neighborhood will host the open-traffic scenario, where a 3.5 km circuit has been designed so that vehicles can circulate in real traffic conditions. The Traffic Management Optimization service (PDI 2) will be deployed here.
The depot test scenario is split into two zones: inside the depot and its surroundings, Carabanchel neighbourhood. Here, CAVs can interact with VRUs and other vehicles in semi-controlled conditions and UAV-based VRU protection (PDI 4) solutions is showcased inside the depot. Equipped VRUs protection (PDI 1) will be deployed at its gate. On the other hand, the depot surroundings extend along Carabanchel neighbourhood, where a route has been designed for the Emergency Vehicle approaching service (PDI 3).
Fig. 1.
Open-urban traffic site in Villaverde (left) and Carabanchel depot (right) aerial view.
This service’s objective is to enhance VRUs’ safety by notifying CAVs and CVs of the presence of VRUs in the vicinity. Simultaneously, connected VRUs will also receive a warning when a CAV approaches. The solution will be deployed at EMT depot’s gate, where risk situations arise during the exit manoeuvres of buses. Here, the CAV’s sensors are unable to detect if a VRU is approaching the gate, as the walls obstruct their visibility. The vehicle selected for this demonstration is a SAE L4 microbus (Gulliver Tecnobus model) and one manual driven connected Renault ZOE.
VRUs will be detected thanks to AI-based cameras. Infrastructure will monitor VRUs whereas the Collision Risk Estimator (CRE) evaluates potential risks, sending out warnings to CAVs about the detection of VRUs as they exit the depot. Connected VRUs will also receive warnings about the presence of CAVs through an app. Whenever the cameras detect a VRU near the gate, they send its position and speed to the CRE, which will also receive the speed and position of the CAV and calculate the possible trajectories and risks. Then a warning is sent to both the CAV and the connected VRUs, allowing them to take the required avoidance actions.
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Two modules have been developed for the deployment of the service: the VRU Manager (VRUM) and the Connected Vehicle Manager (CVM), which handle the information related to VRUs and CAVs, respectively. The Digital Twin (DT) and the CRE are part of MISTRAL, ETRA’s Smart Mobility platform, which unifies urban mobility management systems for real-time management and monitoring (Fig. 2).
Fig. 2.
Data flow of the Equipped VRUs Protection service. Figure produced using Microsoft PowerPoint.
2.2 PDI 2: Traffic Management Optimization Based on PVD from CCAM
This service aims to boost traffic network efficiency through the information CVs can provide to the Traffic Management System (TMS). To do so, CVs will share their location and speed in real-time, along with their origin and destination. Thus, the TMS will be able to adapt to the reported traffic conditions and offer CVs real-time route recommendations.
The solution will be implemented in the open-traffic urban scenario in Villaverde, where a circuit has been designed for CVs to perform several routes that will allow the generation of O-D matrices and route recommendations. The vehicles selected for the demonstration will run as CVs (SAE L0): two Renault Twizy and one Renault ZOE.
This service will need the CVM to receive the information shared by the CVs and forward it to the DT. With this information, the DT shall generate traffic metrics about the status of the road network and the O-D matrices that represent the traffic demands, so MISTRAL is able to adapt the traffic plans to the current situation and send route recommendations to the CVs in the area (Fig. 3).
Fig. 3.
Data flow of the Traffic Management Optimization service. Figure produced using Microsoft PowerPoint.
This solution focuses on the management and prioritization of connected emergency vehicles (CEV) during emergency events, reducing CEVs’ travel time through optimal route recommendations, signal priority and diffusion of warnings to other CVs nearby.
The service will be deployed in the surroundings of Carabanchel depot, where the CEV will perform a meshed route of nearly 7 km to reach the location of the emergency, while also providing advance notification to other CVs and CAVs about its presence for them to perform cooperative manoeuvres to clear the way. The vehicles to be used in the demonstration are two Renault Twizys SAE L4, a Gulliver Tecnobus SAE L4 and a connected Renault ZOE (SAE L0), apart from the CEV, which will be SAE L0.
An Emergency Vehicle Manager (EVM) has been designed for this service. It will receive the notification and location of the emergency and request optimal routes from MISTRAL. Once the route is selected, the EVM will ask MISTRAL for signal priority. Simultaneously, the EVM and the CVM will send MISTRAL the positions, speeds, origin and destination of the CEV and the CVs/CAVs involved. With this data, the DT estimates the possible trajectories and risks and sends the required warnings to CAVs and CVs, so they can form the emergency corridor. On the other hand, MISTRAL will perform the priority requests to the traffic controllers to ensure the CEV finds green light at crossings. Once the CEV reaches the emergency site, MISTRAL is informed and normal operations resume for the TMS (Fig. 4).
Fig. 4.
Data flow of the Emergency Vehicle approaching solution. Figure produced using Microsoft PowerPoint.
2.4 PDI 4: Ad-Hoc On-Demand UAV Based VRU Protection for Closed Environments
This PDI service is designed to enhance the safety of VRUs navigating within enclosed environments frequently traversed by CAVs and CVs.
The service’s deployment takes place within Carabanchel EMT bus depot, distinguished by numerous crosswalks that create occluded pedestrian areas, primarily due to parked buses, resulting in potentially hazardous zones. The vehicles to be used in the demonstration are one Renault Twizy SAE L4, a microbus (Gulliver Tecnobus model) SAE L4 a and a connected Renault ZOE (SAE L0).
VRUs will be detected by a camera mounted on a UAV that will fly over the area with a favorable field of view of the crosswalk. The camera’s video feed will be transmitted to an edge processing computer, which will employ AI perception algorithms to identify the position, speed, and motion predictions of VRUs.
The detection results will be communicated to CAVs/CVs via standard V2X (Vehicle-to-Everything) messages, enhancing the vehicle’s decision-making system. The goal is to improve the vehicle’s response time when encountering pedestrians, thereby reducing the risk of accidents, allowing more comfortable stopping maneuvers, and avoiding an unnecessary conservative driving style (always assuming the presence of pedestrians). The VRU protection service will receive the data from both the VRUs and the CAV/CV and sends to the vehicle the VRUs related to the zone of interest (Fig. 5).
Fig. 5.
Data flow for the Ad-hoc UAV based VRU protection for closed environments solution. Figure produced using Microsoft PowerPoint.
This paper discusses the PDI solutions to be deployed in Madrid within the AUGMENTED CCAM project. All services show the benefits that CCAM can obtain from PDI support, not only to extend the vehicles’ ODD but also to improve traffic management and enhance road safety. In addition, the Digital Twin is highlighted as a crucial element for real-time infrastructure monitoring and advanced management.
As of writing this paper, the project is in its 16th month and the services are still being developed. In Madrid, test scenarios are beginning to upgrade their PDI and initiate the permit and equipment acquisition processes. First demonstrations are scheduled in month 22, with small-scale tests in the field and on virtual demonstration platforms.
Acknowledgements
This document is based on the developments within the Horizon Europe-funded project “AUGMENTED CCAM – Augmenting and Evaluating the Physical and Digital Infrastructure for CCAM deployment” (Grant Agreement; 101069717).
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