Grant Agreement Number: 731993 Project acronym: AUTOPILOT Project full title: AUTOmated driving Progressed by Internet Of Things D.1.6 FINAL OPEN IOT VEHICLE PLATFORM SPECIFICATION Due delivery date: 30.06.2019 Actual delivery date: 30.09.2019 Organization name of lead participant for this deliverable: CRF Dissemination level PU Public X PP Restricted to other programme participants (including the Commission Services) Restricted to a group specified by the consortium (including the Commission RE Services) Confidential , only for members of the consortium (including the Commission CO Services) This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 731993. Document Control Sheet Deliverable number: D1.6 Deliverable responsible: Visintainer Filippo , CRF Workpackage: WP 1 Editor: Visintainer Filippo, CRF Author(s) – in alphabetical order Name Organisation E-mail Visintainer, Filippo CRF [email protected] Galli, Mauro CRF [email protected] Bosi, Ilaria LINKS [email protected] Brevi, Daniele LINKS [email protected] den Ouden, Jos TUE [email protected] Sousa Schwartz, Ramon TNO [email protected] Schreiner, Floriane VEDECOM [email protected] Marcasuzaa, Hervé VALEO [email protected] Scholliers, Johan VTT [email protected] Petrescu, Alexandre CEA [email protected] van den Brand , Jan Willem TT [email protected] Balraj, Marimuthu NEVS [email protected] Document Revision History Version Date Modifications Introduced Modification Reason Modified by V0.1 28/01/216 Basis (D1.6) Task assigment CRF V0.2 LINKS: IoT standards used; TNO: LINKS, TNO; VEDECOM, VALEO, minor modifications on description; CEA, VTT, TT,NEVS, CRF VEDECOM: use case car rebalancing refined description; prototypes nr; specs of TS France prototype; VALEO: updated prototype specs; CEA: IoT updates in French TS; VTT: updates TS Finland; TT: updates on TT prototypes; NEVS: updated Chapter 1.4.4.2 and table 15; CRF update prototype. V1.2 Modif. CEA, VEDECOM, TU\e CEA, VEDECOM, CRF V1.4 Version for peer review CRF V1.5 20/09/2019 Amended version after peer review CRF, addressing comments and integrating modifications suggested by three peer reviewers: Daniele Brevi (Links), Mariano Falcitelli (CNIT), Sadeq Zougari (AKKA) V2.0 30/09/2019 Final formatting for submission ERTICO 2 Abstract This document reports the final vehicle IoT platform, as defined and demonstrated in the AUTOPILOT EU project. The Open IoT Vehicle platform has been deployed in car prototypes, enabling Autonomous Driving functions and Use Cases. D1.6 is an upgrade of the preliminary specifications (D1.5) based on the implementation, as final result of Task 1.3. Legal Disclaimer The information in this document is provided “as is”, and no guarantee or warranty is given that the information is fit for any particular purpose. The above referenced consortium members shall have no liability to third parties for damages of any kind including without limitation direct, special, indirect, or consequential damages that may result from the use of these materials subject to any liability which is mandatory due to applicable law. © 2017 by AUTOPILOT Consortium. 3 Abbreviations and Acronyms Acronym Definition ACC Advanced Cruise Control AD Autonomous Driving ADAS Advanced Driving Assistance System API Application Programming Interface AVP Automated Valet Parking CAD Connected and Automated Driving CAN Controller Area Network C-ITS Cooperative Intelligent Transportation Systems DGNSS Differential Global Navigation Satellite System EC European Commission GA Grant Agreement GNSS Global Navigation Satellite System HMI Human Machine Interaction ICT Information and Communication Technology IoT Internet of Things LiDAR Light Detection And Ranging LTE Long Term Evolution MQTT Message Queuing Telemetry Transport OEM Original Equipment Manufacturer PF Platform PS Pilot Site RSU Road Side Unit RTK Real Time Kinematics TS Test Site UI User Interface V2I Vehicle-to-Infrastructure (communication) V2V Vehicle-to-Vehicle (communication) V2X Vehicle-to-Everything (communication) VIN Vehicle Identification Number VIP Vehicle IoT Platform VRU Vulnerable Road User(s) WM World Model WP Work Package WSN Wireless Sensor Network 4 Table of Contents 1 Executive Summary ................................................................................................... 9 2 Overview of the In-Vehicle IoT Platform................................................................... 10 2.1 Vehicles become part of the IoT ............................................................................... 10 2.2 IoT applied to Autonomous Driving and Mobility ..................................................... 11 2.2.1 Use Case: automated valet parking ..................................................................... 11 2.2.2 Use Case: Highway Pilot ...................................................................................... 12 2.2.3 Use Case: platooning ........................................................................................... 12 2.2.4 Use Case urban driving ........................................................................................ 13 2.2.5 Service: real-time car sharing .............................................................................. 14 2.3 In-vehicle IoT platform within the on-board system................................................. 15 2.4 Proof-of-concept: AUTOPILOT IoT and AD vehicle prototypes ................................. 18 2.4.1 AD vehicle prototypes in Tampere Pilot Site ....................................................... 18 2.4.2 AD vehicle prototypes in Versailles Pilot Site ...................................................... 19 2.4.3 AD vehicle prototypes in Livorno Pilot Site ......................................................... 26 2.4.4 AD vehicle prototypes in Brainport Pilot Site ...................................................... 31 2.4.4.1 TNO prototype ........................................................................................................... 33 2.4.4.2 NEVS prototype .......................................................................................................... 35 2.4.4.3 TUEIN prototype ........................................................................................................ 37 2.4.4.4 VALEO prototype........................................................................................................ 39 2.4.5 AD vehicle prototypes in Vigo Pilot Site .............................................................. 42 3 Needs, Functional architecture and Requirements ................................................... 44 3.1 Top Level Requirements ............................................................................................ 44 3.2 Functional architecture ............................................................................................. 45 3.3 Requirements ............................................................................................................ 48 4 Specifications .......................................................................................................... 61 4.1 Survey of IoT technologies ........................................................................................ 61 4.1.1 Remote Management ......................................................................................... 61 4.1.2 Context Awareness .............................................................................................. 62 4.1.3 Data Management ............................................................................................... 63 4.1.4 Security and Privacy ............................................................................................ 64 4.1.5 Communication Interoperability ......................................................................... 64 4.1.6 Syntactic and Semantic Interoperability ............................................................. 71 4.1.7 Application container or runtime environment .................................................. 73 4.2 Specification of In-Vehicle IoT platform in the different Pilot Sites .......................... 74 4.2.1 In Vehicle IoT Platform of Tampere Pilot Site ..................................................... 75 4.2.2 In Vehicle IoT Platform of Versailles Pilot Site .................................................... 76 5 4.2.3 In Vehicle IoT Platform of Livorno Pilot Site ........................................................ 76 4.2.4 In Vehicle IoT Platform of Brainport Pilot Site .................................................... 78 4.2.4.1 TNO prototype ........................................................................................................... 78 4.2.4.2 NEVS Prototype .......................................................................................................... 79 4.2.5 TUEIN prototype .................................................................................................. 80 4.2.5.1 VALEO prototype........................................................................................................ 83 4.2.6 In Vehicle IoT Platform of Vigo Pilot Site ............................................................. 84 5 Conclusions and outlook.......................................................................................... 86 6 References