All our results are published as "Deliverables". Below is the summary of deliverables by each HIGHTS working team.

Protocols & Facilities 1

Cooperative Intelligent Transport System (C-ITS) and Automation applications rely on knowledge of geographical positions. Satellite based absolute positioning systems (e.g. GPS, GLONASS or Galileo) currently provide only limited accuracy. The accuracy is especially challenging under varying conditions and situations (e.g. radio conditions, weather conditions, urban canyons and tunnels).

This report is the result of an analysis of the upcoming Geolocation Referencing Sub-System (GRSS) relevant requirements and capabilities. This report must in the first place be seen as a guiding document for all HIGHTS Work Packages (WPs). Additional cooperation and contribution by the HIGHTS WPs and alignment with other H2020 projects resulted in this final Location sub- system report, i.e. D2.4.

This report provides a state of the art overview of Geolocation Referencing Sub-System composition, initial Geolocation parameters definition and an initial GRSS architecture. This report provides an overview of envisioned ITS concepts for a complete view of the upcoming Geolocation Referencing sub-system. It describes a concept of steering the data fusion based on the situation analyses (as identified in D2.3) driving the selection of the right context setting.

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Protocols & Facilities 2

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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Extremely Precise Ranging

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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Cooperative Positioning Algorithms and Data Fusion Schemes

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...).

The 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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Implementation, integration & Early Deployment

The deliverable D6.1, represent the first HIGHTS milestone toward the realization of the hybrid, seamless, resilient and efficient platform for highly accurate localization (~25 cm error) within the context of Cooperative-Intelligent Transport Systems (C-ITS). In particular it’s the first of the three documents planned as technical output from WP6, the one deputed for technical implementation, integration and evaluation of HIGHTS outcomes. The D6.1 offers a detailed description, in term of architecture, interfaces and components, of the implementation of the fusion/localization algorithms developed in WP5. In addition it contains also an overview of the selected technologies and related hardware, from WP3 and WP4 that are going to be later used for on-board integration.

The following one, D6.2, will describe the actual on-board integration with an initial comparison (evaluation) against the safety and functional requirements as provided by WP2. Additional specification for privacy enhancement will be provided.

Finally D6.3 will contain the full description of the platform used for final evaluation of HIGHTS technical results. The deliverable reports information required for the forthcoming integration steps in HIGHTS, specifying details about the implementation of the building blocks and Sub-Systems of the HIGHTS geolocation solution. It also reports information required to better implement and integrate such building blocks referring to both the HIGHTS general requirements and the planned validation and demonstration activities to meet those requirements.

The D6.1 paves the way to the second half of HIGHTS, where the technologies and solutions developed in the more theoretical WPs 3, 4 and 5 will find a concrete realization in WP6 showing their real potential and benefits for the whole ITS.

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Standardization & Retulation

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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HIGHTS Work Diagram