NL, Extended Sensors, Extended sensors with CPM messages

Use Case Category: <strong>Extended Sensors</strong><br> User Story: <strong>Extended sensors with CPM messages</strong><br> Location: Dutch (NL) trial site According to 3GPP TS 22.186 R16, Extended Sensors “enable the exchange of raw or processed data gathered through local sensors or live video data among vehicles, RSUs, devices of pedestrians and V2X application servers. The vehicles can enhance the perception of their environment beyond what their own sensors can detect and have a more holistic view of the local situation”. User Story: <strong>Extended sensors with CPM messages</strong> The objective of this user story is to enhance the environmental perception of vehicles by enabling the real-time data exchange between vehicles and RSU. AD vehicles with Level 4 capability require predictive information of environment sufficiently ahead in time. AD vehicles are equipped with on-board sensors, however, with limited range to detect objects and obstacles. CPE extends this range by providing perception of areas not visible to the vehicle sensors due to curves, corners or obstacles in the roads. AD vehicles equipped with 5G technology could share raw sensor data from cameras, LIDAR, etc. or share pre-processed data such as dynamic objects and planned trajectories as the Collective Perception Message (CPM). Additionally, other driving condition data such as weather situation and traffic information can be shared. gNodeB can act as a hub to relay pre-processed data in low resolution or raw data in high resolution, or (in case of MEC) combined data from different vehicles. Exchanging high resolution perception data in real-time requires high bandwidth and low latency communication as promised by 5G (eMBB, uRLLC). In the NL trial, CPE will be evaluated in a cooperative merging scenario at the on-ramp from Nuenen to A270 motorway on the route from Helmond to Eindhoven. Traffic information from the roadside sensors (fixed cameras from SISSBV) will be utilized for a safe merging scenario. There are two connected vehicles in this scenario. The first vehicle is driving from Helmond on A270 and arriving close to the on-ramp from Nuenen while the second vehicle is driving from Nuenen and is arriving close to the ramp to finally merge in the A270. The second vehicle has no information about the traffic situation on the A270 due to its limited field-of-view. The vehicles are connected to two different networks; namely KPN and TNO. Both vehicles send requests to their respective gNodeBs to obtain each other’s environmental information. Collective Perception Service aggregates/fuses CPM messages from vehicles and roadside sensors. The gNodeBs send aggregated CPM messages from the Collective Perception Service to the vehicles. Both vehicles will therefore be aware of each other’s presence and anticipate on it accordingly. When in proximity vehicles also receive CPM messages over C-V2V. Upon request, vehicles can ask for more detailed data about a region, by exchanging pre-processed or raw sensor. The second vehicle can now evaluate and determine its merging possibilities in real time considering safety and traffic situation. When the second vehicle is on the on-ramp, it sends its decision to the first vehicle to make it aware about its merging action. Hence, a safe and efficient merging manoeuvre can be achieved using CPE and exploiting the capabilities of 5G.用例分类：<strong>扩展传感器（Extended Sensors）</strong><br> 用户故事：<strong>搭载CPM消息的扩展传感器（Extended sensors with CPM messages）</strong><br> 试点地点：荷兰（NL）试验场 根据3GPP TS 22.186 R16标准，扩展传感器"支持在车辆、路侧单元（Road Side Unit，RSU）、行人终端与车对外界信息交换（Vehicle to Everything，V2X）应用服务器之间，交换本地传感器采集的原始或处理后数据以及实时视频数据。车辆可借此突破自身传感器的探测局限，提升环境感知能力，全面掌握本地路况态势"。<br> 用户故事：<strong>搭载CPM消息的扩展传感器</strong> 本用例的目标是通过实现车辆与路侧单元的实时数据交互，提升车辆的环境感知能力。具备L4级自动驾驶能力的自动驾驶车辆（Autonomous Driving，AD）需要提前获取足够时效性的环境预测信息。此类车辆虽搭载车载传感器，但探测范围有限，无法识别弯道、路口或道路障碍物遮挡区域内的目标与障碍。集体感知扩展单元（Collective Perception Extension，CPE）可通过提供上述遮挡区域的感知信息，拓展车辆的探测范围。搭载5G技术的自动驾驶车辆可共享摄像头、激光雷达（LIDAR）等传感器采集的原始数据，或以集体感知消息（Collective Perception Message，CPM）的形式共享动态目标、规划轨迹等预处理后的数据。此外，还可共享天气状况、交通信息等其他行车相关数据。5G基站（gNodeB）可作为中继枢纽，转发低分辨率预处理数据或高分辨率原始数据；若依托多接入边缘计算（Multi-Access Edge Computing，MEC），还可整合来自多台车辆的联合数据。实时交换高分辨率感知数据，需要5G所承诺的高带宽、低时延通信能力，即增强移动宽带（enhanced Mobile Broadband，eMBB）与超高可靠低时延通信（ultra-Reliable Low Latency Communications，uRLLC）。<br> 在本次荷兰试点中，研究人员将在埃因霍温至赫尔蒙德路段的纽嫩至A270高速公路匝道合流场景下，对CPE进行性能验证。本次合流场景将利用路侧传感器（SISSBV公司的固定摄像头）采集的交通信息，保障合流过程的安全性。本场景共涉及两台联网车辆：第一台车辆沿A270公路从赫尔蒙德驶来，即将抵达纽嫩方向的匝道入口；第二台车辆从纽嫩驶出，即将抵达匝道并准备汇入A270公路。由于自身视野受限，第二台车辆无法获取A270公路上的交通状况。两台车辆分别接入KPN与TNO两家不同的通信网络，二者均向各自对接的5G基站发送请求，以获取对方的环境感知信息。集体感知服务（Collective Perception Service）会对车辆与路侧传感器上传的CPM消息进行聚合与融合，随后5G基站将聚合后的CPM消息发送至车辆，使两台车辆均可获知对方的存在并提前做出预判。当两车距离较近时，还可通过蜂窝车车通信（Cellular Vehicle-to-Vehicle，C-V2V）直接接收CPM消息。根据需求，车辆可通过交换预处理后或原始传感器数据，获取特定区域的更详细感知信息。此时第二台车辆可结合安全要求与实时交通状况，实时评估并确定自身的合流可行性。当第二台车辆驶入匝道时，会将自身的合流决策发送至第一台车辆，使其提前知晓该动作。借此，依托CPE与5G技术的能力，即可实现安全高效的匝道合流操作。