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Deliverables

D2.1

"Use cases and Application Requirements"

Date: Mar 2016

Pages: 62

Abstract

Cooperative Intelligent Transport System (C-ITS) applications rely on knowledge of geographical positions. Satellite-based absolute positioning systems (e.g. GPS and Galileo) provide currently only limited accuracy possibilities for many C-ITS applications. This is the case especially in challenging environments (e.g. urban canyons and tunnels).
This report is the result of a first analysis of a Geolocation system relevant requirements and capabilities. It must be seen as an initial guiding document for all HIGHTS Work Packages (WPs). Further analyses and cooperation with other WPs and alignment with other H2020 projects during next phases of the HIGHTS project will lead to the final Use cases requirements report, i.e. D2.3. Hence, D2.1 is the first part of a set of two reports. The second one, D2.2, provides a state of the art overview of Geolocation Referencing Sub-System (GRSS) compositions, initial Geolocation parameter definition and an initial GRSS architecture.
This report includes estimated initial GNSS functional requirements. Additionally, it provides an overview of parameters available in C-ITS stations or available in the overall C-ITS system, which are potentially usable for improvement of the Geolocation reference. Also, it contains an initial overview of requirements provided by authorities and standards, and includes insights on accuracy influencing environmental conditions. Finally, it incorporates some business related considerations.

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D3.1

"Protocols & Facilities (Cooperative Communications)"

Date: June 2016

Pages: 246

Abstract

In order to guarantee high precision positioning for future Cooperative Intelligent Transportation Systems (C-ITS), cooperative communication is required between vehicles, vulnerable road users (VRU) and urban landmarks. In such eco-system, positioning-related information needs to be discovered, exchanged and understood by the cooperative localization algorithms described in the D5.1 of WP5. This deliverable D3.1 describes preliminary work on analysing the current gap between what the state-of-the-art communication technologies, protocols and facilities, maps, and architectures can achieve, and what is required by cooperative positioning algorithms. Various communication technologies are first analysed to evaluate their strengths and weaknesses, before proposing disruptive extensions (T3.1). Then, high precision mapping and predictive caching solutions are investigated to enhance the dissemination of positioning- and map-related information between vehicles, infrastructures and the cloud (T3.2). Finally, an initial description of HIGHS European-wide Positioning Service Platform (EWPSP) is provided, as well as a proposal for the integration of IoT/M2M and ITS architectures (T3.3). This document has been developed in cooperation with WP2 (D2.1, D2.2) and WP5 (D5.1), and corresponds to an early analysis. New updates and benchmarks will be provided in the next releases (D3.2, D3.3).

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D4.1

"Use-Case related evaluated distance estimation technologies"

Date: July 2016

Pages: 104

Abstract

The fundamental goal of HIGHTS is to provide a hybrid, seamless, resilient and efficient platform to the C-ITS sector capable of performing highly accurate localization, up to an error of only 25 centimetres. Although the architectural aspects, as well as the communication and position estimation building blocks, play a crucial role pursuing the overall target, the first and fundamental input comes from distance estimation technologies.
This D4.1 aims at establishing a first and solid framework for distance estimation technologies, not only related to traditional ranging but also including heterogeneous information, related to the vehicular scenarios. For this reason, beyond an accurate review of the most suitable state-of- the-art technologies, this document relates each of these to the relevant ITS use cases and scenarios. From the Grant Agreement in fact D4.1 shall provide a “description of the ranging technologies to be used under the selected use-cases coming from WP2”. The goal is to identify, according to the different requirements of each situation that may happen on the road, which technology or set of technologies could be more useful. Furthermore it is necessary to provide a pretty robust definition of the validation parameters to be used to evaluate the “goodness” of a distance estimation technology.
In addition is important to define the interface of the distance estimation sub-systems, that could be heterogeneous and implemented by different manufacturers toward the rest of the ITS architecture.
On the light of the above consideration a selection of HIGHTS-relevant distance estimation technologies, to be further validated via on-field campaign, is provided.

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D5.1

"Cooperative Localization Algorithms and Hybrid Data Fusion Schemes"

Date: May 2016

Pages: 202

Abstract

In the context of Cooperative - Intelligent Transportation Systems (C-ITS), the availability of high- accuracy and seamless position awareness about mobile vehicles and other entities in their vicinity is a key enabler to future road safety and traffic efficiency. However the capability of the widely used Global Positioning System (GPS) is still far below the requirements and expectations of such applications in terms of both accuracy and service continuity (especially in challenging environments such as urban canyons and intersections, tunnels...). This D5.1 report accounts for first theoretical studies, algorithms design and preliminary evaluations carried out in the frame of HIGHTS WP5 with the double aim of improving the localization performance (in terms of accuracy and continuity, complexity, synergy with regulated vehicular communications and adaptation to the operating conditions) and contributing to enrich Local Dynamic Maps (LDMs). Various technologies and techniques, as well as core building blocks of the HIGHTS Geolocation Referencing Sub-System (GRSS) as defined by WP2 in D2.2, are first investigated and improved independently. This effort concerns more particularly cooperative radiolocation techniques relying on Vehicle-to-Vehicle (V2V) and Vehicle-to Infrastructure (V2I) links (T5.1), as well as on- board sensors enabling “Ego” vehicle standalone localization (T5.2) besides GPS. Some of the previous solutions are also combined in a more global context-aware and cooperative hybrid data fusion framework (T5.3). D5.1 will be used as a basis to pursue the initiated specification of candidate localization algorithms (T5.4/D5.2) for future implementation and demonstration in the frame of WP6. Relying on recently defined joint evaluation scenarios and tools (including traffic simulations and realistic V2x channel/ranging models from WP3 and WP4, respectively), new updated results and benchmarks will also be provided in the next release D5.3.

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D7.1

"Worldwide Standards and Regulation Landscape for Cooperative ITS Systems"

Date: April 2016

Pages: 67

Abstract

In order to guarantee a smooth interoperability of future Geolocation features in cooperative intelligent transport systems (C-ITS’s) deploying wireless communications a strong regulatory and standardisation frame-work is required. The regulation needs to provide the essential protected spectrum resources and the legal environment for the stable deployment of the C-ITS in real traffic scenarios. The standardisation should specify the functional interoperability framework for all protocol layers from the application layer down to the physical layer.
In both, the regulation and standardization, different bodies are involved worldwide. This situation leads to different regulatory situations (spectrum, deployment, systems) and standards depending on the region or country.
The present deliverable gives a detailed overview over the worldwide regulation and the standardization in the field of cooperative ITS systems. It presents regulatory processes and the different bodies involved.

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D2.2

"Geolocation Referencing Sub-System"

Date: June 2016

Pages: 53

Abstract

Cooperative Intelligent Transport System (C-ITS) applications rely on knowledge of geographical positions. Satellite based absolute positioning systems (e.g. GPS, GLONASS or Galileo) provide currently only limited accuracy possibilities for many C-ITS applications. This is the case especially in challenging environments (e.g. urban canyons and tunnels).
This report is the result of a first analysis of the upcoming Location sub-system relevant requirements and capabilities. It must be seen as an initial guiding document for all HIGHTS Work Packages (WPs). Further analyses and cooperation with other WPs and alignment with other H2020 projects during next phases of the HIGHTS project will lead to the final Location sub- system report, i.e. D2.4. Hence, D2.2 is the second part of a set of two reports.
The first one, D2.1, includes estimated initial GNSS functional requirements, contains an initial overview of requirements provided by authorities and standards and includes insights on accuracy influencing environmental conditions. Finally, it incorporates some business related considerations
This report provides a state of the art overview of Geolocation Referencing Sub-System (GRSS) compositions, initial Geolocation parameter definition and an initial GRSS architecture.
This report additionally provides an overview of envisioned ITS concepts for a complete view of the upcoming Location sub-system.ions.

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D5.2

"Specifications of implemented cooperative and fusion algorithms"

Date: November 2016

Pages: 82

Abstract

This deliverable, entitled “D5.2 - Specifications of implemented cooperative and fusion algorithms [intermediary]” contains fundamental descriptions of localization algorithms proposed in the frame of HIGHTS WP5 after 18 months of project. This deliverable comes along with another important related deliverable, namely “D6.1 - Description of the implementation”. D6.1 includes information on the requirements for implementation and integration of contributions from other WPs into the HIGHTS system demonstrator, thus serving as a bridge between more theoretical WPs (i.e., 3, (4), 5) and the more practical WPs (i.e., 4, 6).

Whereas the first deliverable D5.1 was accounting for the general progress of all WP5 contributions regardless of integration/implementation considerations, the main objective of D5.2 is to focus on the detailed descriptions and simulation-based evaluations of candidate localization algorithms proposed by WP5 partners (up to this point of the project) for WP6 field validations. Based on results obtained in common WP6-compliant scenarios, the algorithms are specified and tuned for easier implementation in WP6.

The detailed algorithm-wise descriptions include both mathematical and functional representations in compliance with the system architecture presented in D6.1, as well as complementary simulation-based evaluations aiming at algorithms validation. The latter are based on both individually created independent scenarios (intended for extensive simulations in the most generic cases) and a common scenario generated by means of a dedicated traffic simulator (for more focused simulations offering better compliance with actual WP6 capabilities in terms of number of cars, deployment scenario, available technologies, etc.).

Overall, concluding and summarizing the outcome of the first 18 months of HIGHTS in WP5, the current document provides a first conclusive and self-contained selection of localization algorithms and technologies to be later implemented and integrated during the second half of HIGHTS.

Remark: in order to maintain a common language and consistency across the deliverables in some sections may appear paragraphs, tables, pictures or diagrams already used in the “sister” and synoptic deliverable. The fundamental reason is that the high level architecture is going to be a unique platform of the HIGHTS project but the peculiar aim is to provide a standalone document to be used as a reference for future, extra HIGHTS, researches and activities.

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D6.1

"Description of the Implementation"

Date: December 2016

Pages: 114

Abstract

This document is the first WP6 deliverable entitled “D6.1 – Description of the implementation”. It contains a description of the implementation status after the first 18 months of HIGHTS of the technologies, services and building blocks of the HIGHTS system that will be used for evaluation and demonstration purposes. This deliverable comes along with another important related deliverable, namely “D5.2 - Specifications of implemented cooperative and fusion algorithms [intermediary]” that contains fundamental descriptions of localization algorithms proposed in the frame of HIGHTS WP5.

Being D6.1 the first WP6 deliverable, it reports the general progress of all WP6 contributions focussing on implementation aspects and considerations about the forthcoming integration steps. It also includes information on the requirements for implementation and integration of contributions from other WPs into the HIGHTS system demonstrator, thus serving as a bridge between more theoretical WPs 3, 4, 5 and the more practical WP 6. As D6.1 is the first of the three WP6 deliverables, the contents here introduced and the preliminary descriptions of the Sub-Systems here stated may be further developed in HIGHTS and their updated description will be included in the next deliverables along with the details about the integration, testing and validation aspects as well as the demonstration activities.

The activities carried out in WP6 until month 18, and hereinafter reported, paved the way to the realization of the HIGHTS demonstrator, for validation and evaluation of the HIGHTS solution on a real environment. The Sub-Systems are characterized by different status of development, mainly because the starting point at the beginning of HIGHTS was quite different for each of the Sub-Systems: some of them were already developed; some were already present on the market; while some other needed several development steps. The mentioned Sub-Systems include the technologies from WP3 about communication, sharing and storing information in LDM; technologies about radiolocation and ranging from WP4; data fusion algorithms for ego and cooperative localization from WP5. All the Sub-Systems were developed for being compliant to the requirements and architecture presented in WP2.

In summary, the outcome of the first 18 months of HIGHTS in WP6 is a first implementation step on the building blocks of the HIGHTS system, and the current document provides a description of the implementation status of the technologies to be later integrated during the second half of HIGHTS.
Remark: in order to maintain a common language and consistency across the deliverables in some sections may appear paragraphs, tables, pictures or diagrams already used in the “sister” and synoptic deliverable. The fundamental reason is that the high level architecture is going to be a unique platform of the HIGHTS project but the peculiar aim is to provide a standalone document to be used as a reference for future, extra HIGHTS, researches and activities.

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