4.2 Casa – Matadero de la Puerta de Toledo
4.4. Los mataderos de ganado de cerda
In the following all the use cases analysed by the partners are reported.
Case Name Ego vehicle warned of stationary traffic at next turn
Case ID SP1_UC1_32_v1.0
Status Draft
Short description
Ego vehicle receives a message from the detecting vehicle that there is a stationary/slow traffic on one of the roads leading off the junction
Authors Debra Topham (MIRA)
Driving environment Urban, intersection Vehicle probe type Any type of probe vehicle
Risk’s source Stationary/Slow moving traffic jam out of detection range of the ego vehicle located close to the next turn
Precondition
• See MIRA basic scenario number 3 • 2 Safeprobe systems operational
• Detecting probe vehicle broadcasts a message containing information about the location of the slow moving traffic jam
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego vehicle successfully updates the LDM with the location of the slow moving traffic jam located at the next turn off the intersection.
Failed end condition • Lane traffic condition not updated within the LDM
Trigger Ego vehicle receives message from the detecting probe vehicle
Sensor types and useful data
Useful data received from the detecting probe vehicle, data fusion with NAV system data required
Actors/Entities
Primary Actor: SP4 subsystem Internal Entity: SP3_module
Secondary Actor: Other probe vehicle (detecting)
Step Action
1 Detecting vehicle broadcasts warning
SP1_UC3.3_32_v1.0
2 Ego vehicle SP3 module receives the warning
message 3
SP1 system updates the local dynamic map with the information about the location of the slow moving traffic jam
4 LDM update available for the SP4 subsystem to
provide warning and advise information Scenario Description
5
SP1 system determines that there are other equipped vehicles and/or an active SP2 subsystem within its communication range and rebroadcasts the message Step Action Extensions Super ordinates Subordinates Open issues Comments
Case Name Ego vehicle detects wrong way driver
Case ID SP1_UC2_32_v1.0
Status Draft
Short description
Ego vehicle driving along a straight section of motorway detects that there is a wrong way driver entering the slip from the exit ramp (slip road) in the wrong direction (wrong way driver has entered the motorway via the slip road)
Authors Debra Topham, Gary Ford (MIRA)
Driving environment
Motorway primarily. However, this scenario could occur where there is only one 1 lane and a vehicle is allowed to enter the road in the wrong direction.
Vehicle probe type Any type of probe vehicle
Risk’s source Wrong way driver in the adjacent lane
Precondition
• See MIRA basic scenario number 2 • Safeprobe system operational
• Other probes vehicles in the same lane as the wrong way driver 300m behind the ego vehicle
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego vehicle successfully broadcasts wrong way driver warning to other probe vehicles approaching the wrong way driver.
• Lane traffic condition not updated within the LDM • Message not broadcast successfully
Trigger Ego vehicle detects wrong way driver
Sensor types and useful data
ENP sensors detect and classify object, wrong way driver positioned accurately relative to ego vehicle in the LDM, trajectory history required to track vehicle.
Actors/Entities
Primary Actor: Other probe vehicle
Secondary Actor: wrong way driver and Ego vehicle Internal Entity: SP3_module
Step Action
1 Ego vehicle detects on coming vehicle in the
adjacent lane using appropriate ENP sensors
2 The LDM is updated with the location of the on
coming vehicle. 3
The ego vehicle determines that there are other probe vehicles behind its current position heading towards the on coming vehicle
4
The ego vehicle broadcasts the warning message with containing data about the location of the wrong way vehicle
Scenario Description
Step Action
Extensions
Super ordinates SP1_UC2.1_32_v1.0
Subordinates None
Open issues Comments
Case Name Ego vehicle receives wrong way driver warning
Case ID SP1_UC2. 2_32_v1.0
Status Draft
Short description
Infrastructure detects vehicle entering a one-way road in the wrong direction at an intersection and broadcasts a warning message to other probe vehicles approaching the intersection.
Authors Debra Topham (MIRA)
Driving environment Urban, intersection Vehicle probe type Any type of probe vehicle
Risk’s source On-coming vehicle turning into a one-way road in the wrong direction of an intersection
Precondition
• SP2_Subsystem operational
• SP2_subsystem has detected a vehicle turning left into a one-way road at an intersection.
• At least 1 operational SAFEPROBE equipped vehicle • Local dynamic map contains information relating to the
driving environment and current situation prior to the scenario occurring.
Goal / Successful
Local dynamic map of ego vehicle updated with oncoming vehicle data to enable SP4_subsystem to provide warning and
end condition advice information.
Failed end condition • Local dynamic map not updated with obstacle information
Trigger Ego vehicle receives message from subsystem SP2
Sensor types and useful data
No sensor data, useful data communicated from the roadside infrastructure SP2 subsystem
Actors/Entities
Primary Actor: SP4_subsystem (ego vehicle) Secondary Actor: SP2_subsystem
Internal Entity: SP3_module (of ego vehicle)
Step Action
1
Ego vehicle receives a message from the SP2_subsystem located ahead of its current trajectory indicating oncoming vehicle in the same lane.
2 SP1 system updates its local dynamic map with the
position of the moving obstacle Scenario Description
3 LDM data available for the SP4_subsystem to
provide warning and advise information 4
Ego vehicle determines from the relative localization map that there are other equipped vehicles behind its current position
5 SP3_module broadcasts the message to the
SP2_subsystem and other probe vehicles
Step Action 4a
Ego vehicle determines from the relative
localization map that there are no other equipped vehicles or SP2_systems
5a
Message stored until other communicating nodes are found and region is still relevant and/or message lifetime has not expired.
Extensions
Super ordinates None (perhaps from use case generated by SP2 – Infrastructure detects vehicle making a wrong turn) Subordinates
Open issues Comments
Case Name Vehicle receives warning of wrong way driver
Case ID SP1_UC2.1_32_v1.0
Status Draft
Short description
Ego vehicle receives a message from the detecting vehicle that there is a wrong way driver approaching
Authors Debra Topham, Gary Ford (MIRA)
Driving environment Motorway
Vehicle probe type Any type of probe vehicle
Risk’s source Wrong way driver in the same lane as the ego vehicle
Precondition
• See MIRA basic scenario number 2 • 2 Safeprobe systems operational
• Vehicle has detected a wrong way driver and broadcast the message
• Other probes vehicles in the same lane as the wrong way driver 300m behind the ego vehicle
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego vehicle successfully receives the message from the detecting vehicle that a wrong way vehicle is approaching and updates its LDM to enable the SP4 subsystem to provide appropriate advice and warning information.
Trigger Ego vehicle receives message from the detecting probe vehicle Sensor types and
useful data
No sensing information for this scenario the ego vehicle receives the data from an outside source.
Actors/Entities
Primary Actor: SP4 subsystem Internal Entity: SP3_module
Secondary Actor: Other probe vehicle (detecting)
Step Action
1 Detecting vehicle broadcasts wrong way driver
warning SP1_UC2_32_v1.0
2 Ego vehicle SP3 module receives the warning
message
3 SP1 system updates the local dynamic map with
the information about the wrong way driver
4 LDM update available for the SP4 subsystem to
provide warning and advise information Scenario Description
5
SP1 system determines that there are other equipped vehicles and/or an active SP2 subsystem within its communication range and rebroadcasts the message
Step Action
Extensions
Super ordinates None
Subordinates SP1_UC2_32_v1.0
Open issues Comments
Case Name Ego vehicle turning receives warning of slow moving object crossing
Case ID SP1_UC3_32_v1.0
Status Draft
Short description
Ego vehicle approaches T-junction with intention of making a left (right) turn. Pedestrian VRU is crossing the road and outside the detection range of the ego vehicle. Possible collision with the pedestrian.
Authors Debra Topham (MIRA)
Driving environment Urban
Vehicle probe type Any type of probe vehicle
Risk’s source Pedestrian VRU crossing the road slowly
Precondition
• See basic scenario description: SP2 subsystem detects pedestrian VRU crossing the road
• 1 SafeProbe system operational
• SP2_subsystem in operation at the T-junction
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Local dynamic map of ego vehicle updated with position of pedestrian VRU crossing the road to enable SP4 subsystem to provide warning and advice information.
Failed end condition
• Local dynamic map not updated with Pedestrian VRU crossing the road
Trigger Ego vehicle receives message from the SP2 subsystem
Sensor types and useful data
To be completed as part of the useful data task 1.2.2 (see technical Annex.
Actors/Entities Primary Actor: SP4_subsystem (ego vehicle) Secondary Actor: SP2_subsystem and Pedestrian VRU.
Step Action
1 SP2 subsystem detects a pedestrian VRU crossing
the road and broadcasts a warning message. 2
SP1 system of the Ego vehicle receives the message from subsystem 2 and the updates the local dynamic map with the location of the pedestrian VRU.
Scenario Description
3 LDM data available for the SP4 subsystem to
generate warning and advice information
Step Action
Extensions
Super ordinates None
Subordinates None
Open issues Comments
Case Name Ego vehicle receives warning of obstacle (traffic jam) at next turn
Case ID SP1_UC3.1_32_v1.0
Status Draft
Short description
Ego vehicle approaches intersection with the intention of making a left (right) turn. Detection of traffic jam on road is outside the detection range of the ego vehicle. Possible collision with stationary vehicle.
Authors Debra Topham (MIRA)
Driving environment Urban
Vehicle probe type Any type of probe vehicle
Risk’s source Traffic jam on road ego vehicle intends to turn into
Precondition
• At least 1 Safeprobe system operational • SP2_subsystem operational at the intersection
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
• Slow moving traffic jam on road ego vehicle intends to turn into
Goal/Successful end
Local dynamic map of ego vehicle updated with position of traffic jam to enable SP4 subsystem to provide warning and advice
condition information.
Failed end condition • Local dynamic map not updated with correct location of traffic
Trigger Ego vehicle receives message from the SP2 subsystem
Sensor types and useful data
Useful data received from the roadside infrastructure SP2 system
Actors/Entities
Primary Actor: SP4_subsystem (ego vehicle)
Secondary Actor: SP2_subsystem and other vehicles (involved in traffic jam)
Step Action
1 SP2 subsystem detects that there is a traffic jam on
one of the roads leading off the intersection. 2
SP1 system of the Ego vehicle receives the message from subsystem 2 and the updates the local dynamic map with the location traffic jam. Scenario Description
3 LDM data available for the SP4 subsystem to
generate warning and advice information
Step
4 SP3 module broadcasts LDM update/warning to
other probe vehicles Extensions
Super ordinates None
Subordinates None
Open issues Comments
Case Name Ego vehicle detects traffic jam
Case ID SP1_UC3.2_32_v1.0
Status Draft
Short description
Ego vehicle detects stationary traffic on the adjacent lane in the opposite traffic flow and broadcasts a warning message addressed to vehicles turning into the affected lane.
Authors Debra Topham (MIRA)
Driving environment Urban
Vehicle probe type Any type of probe vehicle
Risk’s source Traffic jam on in adjacent traffic flow at an intersection
Precondition
• At least 2 operational Safeprobe systems
• Local dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
• Slow moving traffic jam in opposite traffic flow Goal/Successful end
condition
Local dynamic map of ego vehicle updated with position of traffic jam and message broadcast to other probe vehicles
vehicles making a left turn into the affected junction
Trigger Ego vehicle detects slow moving traffic in the opposite traffic flow at an approaching an intersection Sensor types and
useful data
ENP sensors, NAV system
Actors/Entities
Primary Actor: Other probe vehicles
Secondary Actor: other vehicles (involved in traffic jam) Internal Entity: Sp3 module
Step Action
1
Ego vehicle detects slow/stationary traffic in the adjacent lane using appropriate ENP sensors and NAV systems
2
The LDM is updated with the location of the traffic jam. (Relative position of the last vehicle in the traffic jam in relation to the junction is important)
3 The ego vehicle determines that there are other
probe vehicles that will enter the affected road Scenario Description
4
The ego vehicle broadcasts the warning message containing data about the location stationary/slow moving traffic jam
Step
Extensions
Super ordinates None
Subordinates None
Open issues Comments
Case Name Ego vehicle runs a red light
Case ID SP1_UC4_5_v1.0
Status Draft
Short description
Ego vehicle approaches intersection with constant speed going to run a red light, driver blinded by low sun
Authors Sönke Carstens-Behrens, Christian Zott (Bosch)
Driving environment
Urban
Vehicle probe type All classes of probe vehicles
Risk’s source Potential collision with other (crossing) vehicles, VRU
Precondition
• See scenario 12 (from Bosch, only ego vehicle): x-shape intersection, ego driver blinded by low sun, ego vehicle 300m from intersection, 50km/h,
• 1 SAFEPROBE system and RSU (SP2 platform) operational • Ego llocal dynamic map contains information relating to the
driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego local dynamic map has been updated traffic sign status (red light phase), SP4 or SP5 subsystem able to generate collision warning and advise information.
Failed end condition
Local dynamic map lane traffic condition status does not change timely.
Trigger Communication message from RSU about traffic sign phase
Sensor types and useful data
No ego sensing traffic signal assumed
Actors/Entities
Primary Actor: SP4 subsystem
Secondary Actors: Other probe Vehicles and RSU Internal Entity: SP3_module – internal entity
Step Action
1 Com message RSU indicating red light phase
2
SP1 system updates local dynamic map (affected intersection) with traffic signal status (red light phase,)
Note: no fusion with internal vehicle data (ENP,) except static map data or previous vehicle entries in LDM (tracking)
Scenario Description
3
LDM data available for SP4 subsystem to generate rule violation and potential collision warning, and driving advise
Step Action
Extensions 4 SP3 module broadcasts LDM update / warning to
SP2-subsystem and other probe vehicles Super ordinates SP1_UC02_5_v0.1 SP1_UC03_5_v0.1 (from a crossing vehicle’s point of view) Subordinates
Open issues Comments
Formatiert: Nummerierung und Aufzählungszeichen
Case Name Ego Vehicle runs a red light on collision path
Case ID SP1_UC4.1_5_v1.0
Status Draft
Short description
Ego vehicle approaches intersection with constant speed going to run a red light, driver blinded by low sun; other vehicle is going to cross the intersection; collision given no manoeuvre
Authors Sönke Carstens-Behrens, Christian Zott (Bosch)
Driving environment
Urban
Vehicle probe type All classes of probe vehicles Risk’s source Collision with crossing vehicle
50km/h,
• 2 SAFEPROBE systems and RSU (SP2 platform) operational • Ego llocal dynamic map contains information relating to the
driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego local dynamic map has been updated with crossing vehicle and its attributes (state) and traffic sign status (red light phase), SP4 or SP5 subsystem able to generate collision warning and advise regarding information.
Failed end condition
Local dynamic map lane traffic condition status does not change timely
Trigger Communication message from RSU about traffic sign phase
Sensor types and useful data
No ego sensing of crossing vehicle (blocked view, > 300m distance) and traffic signal assumed
Actors/Entities
Primary Actor: SP4 subsystem
Secondary Actors: Other probe vehicle and RSU Internal Entity: SP3_module
Step Action
1 Com message RSU indicating crossing vehicle at
collision path and red light phase
2
SP1 system updates local dynamic map (affected intersection) with crossing vehicle position, speed, time stamp (and further attributes) and traffic signal status (red light phase,)
Note: no fusion with internal vehicle data (ENP,) except static map data or previous vehicle entries in LDM (tracking)
Scenario Description
3
LDM data available for SP4 subsystem to generate rule violation and collision warning, and driving advise
Step Action
Extensions 4 SP3 module broadcasts LDM update / warning to
SP2-subsystem and other probe vehicles Super ordinates SP1_UC03_5_v0.1 (from the crossing vehicle’s point of view) Subordinates
Open issues Comments
Case Name Other vehicle runs a red light
Case ID SP1_UC4.2_5_v1.0
Status Draft
Short description
Ego vehicle approaches/stands at intersection with green traffic signal (right of way), other (crossing) vehicle is going to run red light (e.g. driver blinded by low sun), collision with crossing vehicle going to happen given no manoeuvre changes
Authors Sönke Carstens-Behrens, Christian Zott (Bosch)
Driving environment Urban
Vehicle probe type All classes of probe vehicles
Risk’s source Collision with crossing vehicle going to happen given no manoeuvre changes, blocked view at intersection
Precondition
• See scenario 12 (from Bosch): x-shape intersection, other driver blinded by low sun, ego and crossing vehicle 300m from intersection, 50km/h,
• Ego llocal dynamic map contains information relating to the driving environment and current situation prior to the scenario occurring.
Goal/Successful end condition
Ego local dynamic map has been updated with crossing vehicle and its attributes (state) and traffic sign status,
SP4 or SP5 subsystem able to generate collision warning and advise information.
Failed end condition Local dynamic map lane traffic condition status does not change timely Trigger Communication message from RSU about crossing vehicle and traffic sign phase Sensor types and
useful data
No ego sensing of crossing vehicle (blocked view, > 300m distance)
Actors/Entities
Primary Actor: SP4 subsystem
Secondary Actors: Other probe Vehicles and RSU Internal Entity: SP3_module
Step Action
1 Com message RSU indicating crossing vehicle at
collision path and traffic signal phase
2
SP1 system updates local dynamic map (affected intersection) with crossing vehicle position, speed, time stamp (and further attributes) and traffic signal status
Note: no fusion with internal vehicle data (ENP,) except static map data or previous vehicle entries in LDM (tracking)
Scenario Description
3 LDM data available for SP4 subsystem to generate