SAE Global Ground Vehicle Standards: Advanced Technology Overview

SAE INTERNATIONAL
GLOBAL GROUND VEHICLE STANDARDS
Advanced Technology
Standards Activities
Edward Straub, DM
Director
SAE Office of Automation
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
AGENDA
• Overview
• Standards Creation
• Advanced Technology Standards
• SAE Standards Roadmap
• Getting involved
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
Overview - History
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
3
Overview - Our Portfolio
PUBLICATIONS
https://www.sae.org/
100,000+ collection of
technical publications
145,000+ members
worldwide
CONFERENCES
FOUNDATION
30+ technical
conferences worldwide
SAE’s charitable arm
supporting STEM
TECHNICAL
STANDARDS
35,000+ aerospace and
ground vehicle standards
MEMBERSHIP
MEDIA
Magazines, eNewsletters,
Tech Briefs
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
PROFESSIONAL
DEVELOPMENT
Extensive portfolio of
courses, webinars
4
Role of standards today
Consistent product
quality
Regulatory
compliance
foundation
Compatibility and
interoperability
Why
standardize ?
Lowers trade barriers
Lowers purchasing costs
Decreases design time
Increases new technology speed to
market
Promotes innovation and fosters
competition
Advances the collective technology of
industry
Consistent and clear expectations
for product performance
Global Ground Vehicle Standards
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
More efficient
procurement
https://www.sae.org/
5
SAE Global Ground Vehicle Standards in a Nutshell
6 Ground Vehicle
• 8,375 Standards
Councils
Published
• 1,817 Standards
9,933
Maintained
Committee
• 491 WIP Standards
Members
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
564
Technical
Committees
2,900
Companies
6
Overview - Technical Standards Structure
SAE Executive Standards
Committee
Motor
Vehicle
Council
Truck & Bus
Council
ConAG
Council
Specialized
Vehicles
Council
Materials
Parts &
Processes
Council
Steering
Committees
Steering
Committees
Steering
Committees
Steering
Committees
Steering
Committees
Steering
Steering
Committees Committees
Technical
Technical
Committees
Committees
Technical
Technical
Committees
Committees
Technical
Technical
Committees
Committees
Technical
Technical
Committees
Committees
Technical
Technical
Committees
Committees
Technical
Technical
Technical
Technical
Technical
Technical
Committees Committees
Committees
Committees Committees Committees
Fuels &
Lubes
Council
Systems
Management
Council
Aerospace
Council
Steering
Committees
Task
Forces
Task
Forces
Task
Forces
Task
Forces Task
Task
Forces
Task
Forces
Task
Forces
TaskForces
Forces
Task
Forces
Task
Forces Task
Task
Task
Forces
Task
Forces
TaskForces
Forces
Task
Forces
Task
Forces
Forces
Task
Task
Forces
TaskForces
Forces Task
Task
Forces
Forces
Task
Task Forces
Task Forces
TaskForces
Forces Task
Task Forces
Task
Forces
Task Forces
TaskForces
Forces
Global Ground Vehicle Standards
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
7
Overview - Standards Development Process
Open, Transparent and Consensus Based
Timeline
Input:
Agency,
industry and
stakeholder
needs
Mutual
Agreement
on
Subject
Topic
18-36 months
Open SAE
Technical
Committee
Document
Sponsor –
Task force /
working
group
Document
Development
& Balloting
Process
SAE J-document
Industry
Standard
Recommended
Practice
Information
Report
Any interested party can identify or raise a topic for discussion in an
open standards committee.
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
8
Overview - SAE Pre-Competitive Research
SAE Industry Technologies Consortia (SAE ITC)
•
Automated Vehicle Safety Consortium
SAE Cooperative Research Program (CRP)
• Solutions by Industry for Industry
•
~12 months
Unique, pre-competitive R&D projects
o Joint Ventures of industry companies
o Agile development of targeted research
SAE ADS Standards Roadmapping Initiative
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
CRP
output
9
9
CRP Example: Wireless Power Transfer
J2954 scope includes residential and
parking garage, parking lot and side of
road charging locations and Wireless
Power Transfer (WPT) charging levels
1,2 & 3. Standardization to finish in
2018.
A collaborative research
collaborative for the development of
SAE J2954 will establish minimum
performance, interoperability and
safety criteria for wireless charging
of EVs / PHEVs and vehicle
alignment.
SAE ADS Standards Roadmapping Initiative
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
Companies participating:
10
10
ADVANCED DRIVER
ASSISTANCE SYSTEMS
(ADAS)
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
SAE ADAS Vehicle Standards Activities
Active Safety
Systems Standards
Committee
Terms &
Definitions
Task Force
Test Target
Validation
Correlation
Task Force
Bicycle
Test
Targets
Task Force
Vehicle
Lane
Deviation
Warning
Task Force
Hardware
in-theLoop Task
Force
Roadside
Object
Surrogate
Task Force
Sensor
Calibration
Task Force
ADAS
Feature
Rating
System
Task Force
Voting Members include reps from:
Indiana Univ Purdue Univ Indianapolis
Toyota Research Institute
Transportation Research Center Inc
Univ of California-Berkeley
Link Engineering Company
General Motors
Nissan Motor Co Ltd
Aptiv
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
Dynamic Research Inc
Mercedes-Benz USA LLC
Volkswagen Group of America Inc
12
ADAS Standards
J3063™ Active Safety System Terms & Definitions
J3088™ Active Safety System Sensors
VEHICLE SYSTEM &
PERFORMANCE
REQUIREMENTS
•
Identify the functionality and performance you
could expect from active safety sensors
•
Establish a basic understanding of how
sensors work
J3087™ Automatic Emergency Braking (AEB)
System Performance Testing
J2399™ Adaptive Cruise Control (ACC) Operating
Characteristics and User Interface
J2802™ Blind Spot Monitoring System Operating
Characteristics & User Interface
J3116™ Active Safety Pedestrian Test Mannequin
Recommendation
J3157™ Active Safety Bicyclist Test Targets
J3029™ Forward Collision Warning & Mitigation
Vehicle Test Procedure – T&B
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
13
ADAS Standards
ADAS Related Documents – Work In-Process
J3122 WIP: Active Safety Test Target Correlation - Radar Characteristics
J3063™ Active Safety System Terms & Definitions - Update
Safety and Human Factors Standards Related to ADAS
J3045™: Truck & Bus Lane Departure Warning Systems Test Procedure
J3048™: Driver-Vehicle Interface Considerations for Lane Keeping Assistance Systems
J2988™: Guidelines for Speech Input & Audible Output in Driver Vehicle Interface
J2400™: Human Factors in Forward Collision Warning Systems Operating Characteristics & User Interface
J2831™: Development of Design & Engineering Recommendations for In-Vehicle Alphanumeric Messages
J2972™: Definition of Hands-Free Operation of a Person to Person Wireless Communication System or Device
J2399™: Adaptive Cruise Control Operating Characteristics & User Interface
J2808™: Road/Lane Departure Warning Systems: Information for the Human Interface
J3077™: Definitions and Data Sources for the Driver Vehicle Interface (DVI)
JTBD: Naming Methodology for Driver Assistance and Automation
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
14
CONNECTED
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
V2X Communications Standards Activities
V2X
Communications
Steering
Committee
DSRC
Technical
Committee
C-V2X
Technical
Committee
Scope:
DSRC Radio
accessspecific items
Scope:
C-V2X Radio
accessspecific items
Advanced
Applications
Technical
Committee
Scope:
Lower layerunknown
applications
that may
require new
comms
technologies
Security
Technical
Committee
Scope:
Over the air
security
CrossCutting
Technical
Committee
Infrastructure
Applications
Technical
Committee
Traffic Signal
Applications
Technical
Committee
Vehicular
Applications
Technical
Committee
Tolling
Applications
Technical
Committee
Scope:
Common to
multiple
applications
or comms
technologies
Scope:
Infrastructure
applications
that do not
require traffic
signal data
Scope:
Infrastructure
applications
that require
traffic signal
data or
interface
Scope:
Vehicle comms
needs
Scope:
Applications
for tolling and
financial
transactions
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
16
V2X Communications Standards – Foundational Documents
J2735 Message
Set Dictionary
•
•
•
•
•
•
•
•
Defines Standardized Message Sets
Supports Interoperability
Defines Formats
Defines Basic Safety Message (BSM)
Defines MapData (Map) Message
Defines Signal Phase and Timing Messages
Defines Personal Safety Messages for VRUs
Defines Traveler Information Messages (TIM)
J2945/0 SEP
Guidance for
J2945/X
Documents
•
•
•
•
•
•
•
Provides System Engineering Guidance & Example
Defines Communication Protocol
Specifies Communication Performance Requirements
Defines Message Transmission Rate
Defines Channel usage
Optional Data Usage
Message Application Priorities
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
17
SAE V2X Communications Documents:
J2945/3
Requirements for V2I Weather Applications
• Collect weather-related data from vehicles &
Infrastructure
• Distribute weather-sensitive information for safety
and mobility. For example:
o Enhanced maintenance decision support
o Weather advisory and warnings
o Routing support for emergency responders
o Weather-sensitive variable speed, ramp metering
Global Ground Vehicle Standards
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J2945/5
Service Specific
Permissions and Security
Guidance for Connected
Vehicle Applications
• Establishes a security
systems engineering
process
• Describes which fields
and activities should be
subject to SSP
constraints
• Specifies syntax and
semantics for the SSPs
• Addresses the
development of SSPs
for scenarios
Slide courtesy of Sue Bai
18
J2945/9 VRU (V2P) Safety Message Minimum Performance Requirements
Defines the safety message minimum performance requirements from
pedestrian device (e.g. smartphone) to vehicles
Protects pedestrians (including people with disabilities/special needs), cyclists,
public safety workers
Global Ground Vehicle Standards
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
Slide courtesy of Sue Bai
19
SAE V2X Communication Documents: In Process
J2945/6 Cooperative
ACC Performance
Requirements
•
•
Defines requirements
to enhance Adaptive
Cruise Control with
V2X communications
Phase 2 to Include
platooning
Global Ground Vehicle Standards
J2945/A
Map/SPaT Message
Recommended Practice
•
•
Provides guidance on
usage & applications
Intended for
developers & users
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J2945/B
Signal Preemption
Recommended Practice
•
Provides guidance on
usage and applications
for signal request &
preemption messages
Slide courtesy of Sue Bai
J2945/C
Traffic Probe Use and
Operation
Recommended Practice
•
Provides guidance on
automated vehicle
probe data collection
and distribution
20
SAE V2X Communication Documents: In Process
J2945/4
Road Safety Applications (WIP)
• Infrastructure  Vehicle safety
and mobility-related information
• Some of the candidate
applications:
o Curve speed warning
o Reduced speed warning
o Lane & Road changes &
closures
Global Ground Vehicle Standards
J2945/7
Positioning Enhancements for V2X
Systems (WIP)
• Addressing use cases that require
high levels of position accuracy,
reliability, and integrity
• Supports integration of highprecision GNSS receivers and
other positioning systems
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J2945/8
Cooperative Perception Systems
(WIP)
• Describes methods for a V2X
device to broadcast perception
information of other road
users/objects nearby
• Defines use cases, performance &
security requirements
21
SAE V2X Communication Documents: In Process
J2945/D
Road User to Road User Courteous
Communications (WIP)
• Provides guidance on the
requirements of a V2X application
to enable drivers (human or
machine) to exchange courteous
messages to resolve traffic related
misunderstandings and conflicts
Global Ground Vehicle Standards
J3217
Profiles for V2X Based Fee
Collection (WIP)
• Provides Concept of Operations to
enable V2X toll and other financial
transactions.
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J3224
V2X Sensor-Sharing for Cooperative
& Automated Driving (WIP)
• Provides requirements for a
sensor-sharing message suitable
for V2X-entities (RSUs, vehicles,
VRUs) to describe detected road
users, road obstacles and road
impairments
22
DRIVING AUTOMATION
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
SAE Automated Vehicle Standards Activities
On-Road
Automated
Driving (ORAD)
Committee
Taxonomy
&
Definitions
Task Force
Definitions
Task Force
ISO/SAE
Joint
Verification
&
Validation
Task Force
Reference
Architecture
Interfaces
Task Force
ADS-DV
User Issues
for Persons
with
Disabilities
On Road
Automated
Driving
Maneuver
Task Force
ADS
Testing
Task Force
Guidelines
for Tests of
Prototype
ADSs Task
Force
Infrastructure
Needs
Related to
Automated
Driving TF
To find content and any SAE standard, search the number at:
https://saemobilus.sae.org/
(e.g. “J3016”)
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
24
SAE Automated Driving Standards
J3016™
Taxonomy & Definitions for Terms Related to On-Road
Vehicle Automated Driving Systems
J3216™
Taxonomy and Definitions for Terms Related to
Cooperative Driving Automation for On-Road Vehicles
J3114™
Human Factors Definitions for Automated Driving
and Related Research Topics
Driver Interface /
Human Factors
Safety
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J3171™
Identifying Automated Driving Systems-Dedicated
Vehicles (ADS-DVs) Passenger Issues for
Persons with Disabilities
J3018™
Guidelines for Safe On-Road Testing of SAE
Level 3, 4, and 5 Prototype Automated Driving
Systems (ADS)
25
ORAD Committee Standards – Work In Process
Updated April 2021
Collab with ISO TC204
Safety
Updated Dec 2020
Publishing in 2021
GUIDELINES & RECOMMENDED
PRACTICES
TEST & VERIFICATION
METHODS
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
Published May 2020
26
Cooperative Driving Automation (CDA): Automation + Cooperation
Automation
Cooperation
SAE J3216 (May 2020)
https://saemobilus.sae.org/content/J3216_202005/
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
27
Cooperative Driving Automation – J3216TM
Class A: Status-sharing
Perception information about the traffic environment and information
about the sending entity provided by the sending entity for potential
utilization by receiving entities. (“Here I am, and here is what I see.”)
Class B: Intent-sharing
Information about planned future actions of the sending entity
provided by that entity for potential utilization by receiving entities.
(“This is what I plan to do.”)
Class C: Agreement-seeking
A sequence of collaborative messages among specific CDA devices
intended to influence local planning of specific DDT-related actions.
(“Let’s do this together.”)
Class D: Prescriptive
The direction of specific action(s) to specific traffic participants for
imminent performance of the DDT or performance of a particular task
by a road operator (e.g., changing traffic signal phase), provided by a
prescribing CDA device agent(s) and adhered to by a receiving CDA
device agent(s). (“I will do as directed.”)
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
28
Additional Committee Activity for Developing Automation Standards
Committee
Overview
Driving Automation
Systems
This Technical Committee is responsible for all safety & human factors issues concerning driving
automation systems and how these new technologies will impact the driving experience. This
includes any vehicle that involves human operation, either in-vehicle or remotely located,
transitioning into or out of Level 1 driving automation and above, and/or based on any interaction of
human road users with driving automation systems.
J3114- Human Factors Definitions for Automated Driving and Related Research Topics (Dec 2016)
ADS Logger Task Force
J3197 Automated Driving System
Data Logger (April 2020)
J1698/x Event Data Recorder
ADS Lamps Task Force
Driving Skills Committee
The Event Data Recorder Committee established this Task Force to detail ADS data elements and
definitions that can be gathered in crash or near-crash events in ADS. These additional data
elements may be those useful for accident reconstruction involving an ADS-equipped vehicle or
allowing determination of whether further analysis into the ADS system performance or non-ADS
system performance is needed.
https://saemobilus.sae.org/content/J3197_202004/
Signaling and Marking Devices Standards Committee established this Task Force to develop test
procedures, performance requirements, and design guidelines for autonomous vehicle lighting
(J3134).
Drafting J3300 AV Safety Operator endorsement for test drivers (safety operators) on proving
grounds as a complement to the four skill levels defined in the foundational license.
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
29
SAFETY & HUMAN FACTORS
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
SAE Human Factors Standards Activities
Safety and
Human Factors
Vehicle Sound
for Pedestrians
Committee
Adaptive
Cruise Control
and Forward
Collision
Warning
Committee
Driver Metrics,
Performance
and States
Committee
Driver Vehicle
Interface
Committee
Advanced
Driver
Assistance
Systems (ADAS)
Committee
Driving
Automation
Committee
Voting Members include reps from:
Honda Motor Co Ltd
Toyota Research Institute
Daimler AG
Denso Corp.
FCA US LLC
Mercedes-Benz
General Motors
Nissan Motor Co Ltd
Valeo
Dynamic Research
Exponent
Waymo
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
MIT
Magna
Aptiv
Gentex
Ford Motor Co.
Volkswagen
31
SAE Human Factors Standards Activities
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
32
Safety and Human Factors Standards Related to Connected Vehicles
 J2395™: ITS In-Vehicle Message Priority
 J2831™: Development of Design & Engineering
Recommendations for In-Vehicle Alphanumeric
Messages
Driver Interface /
Human Factors
Global Ground Vehicle Standards
 J2988™: Guidelines for Speech Input & Audible
Output in Driver Vehicle Interface
 J2944™: Operational Definitions of Driving
Performance Measures & Statistics
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
33
CYBER SECURITY
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
SAE Cyber Security Standards Activities
 Vehicle Cyber Security Systems Engineering
Committee
•
J3061™: Cybersecurity Recommended
Practice for Cyber-Physical Vehicle Systems
 Truck and Bus Controls and Communications
Network Committee
•
J1139™: Serial Control and Communications
– Heavy Duty Vehicle Network
 Vehicle Electrical Systems Security
•
•
J2101 WIP: Requirements for Hardware
Protected Security for Ground Vehicle
Applications
J1939™, J1979™, J3005™ & J2534™:
OBD II for Telematics, Vehicle Health
Management, Data Access, Vulnerabilities &
Cyber Threat Analysis, OTA Updates
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
J3061 Cyber Security Guidebook
35
TRUCK & BUS AUTOMATION
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
Truck and Bus Automation Safety Committee
 Re-organized in fall 2020
 J3150™: Taxonomy and Definitions for
Automated Multi-Vehicle Truck and
Bus Systems
 J3029™: Forward Collision Warning
and Mitigation Vehicle Test Procedure Truck and Bus
 Five-year review
 Next meeting:
 15:00 EDT | 24 June 2021
https://www.sae.org/servlets/works/committ
eeHome.do?comtID=TETCAS
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
37
SAE STANDARDS ROADMAP
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
Roadmap organization and timeline view
Each box is a standards need
for ADS deployment. Click to
view more information.
Time
SAE INTERNATIONAL
SAE ADS Standards Roadmapping Initiative
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
39
Roadmap Organization and Timeline View
Standards Areas
Subcategories (Safety has 7 subcategories)
Each area is further divided into
subcategories. Definitions for each
area are provided at the top bar,
e.g., Functional Safety is highlighted.
Time
SAE INTERNATIONAL
SAE ADS Standards Roadmapping Initiative
© SAE International. Further use or distribution is not permitted without permission from SAE
Copyright © SAE International. Further use or distribution is not permitted withoutCopyright
permission
from SAE International.
40
40
Cooperative Driving Automation – Taxonomy and Definitions
4
2
1
3
5
1.
2.
3.
4.
5.
6.
Standards Need Anatomy
Description Panel (active)
Relevant Existing Standards & Activities Panel
Resources Panel (e.g., links)
Standards Area Panel
Tags Panel
Relationships Panel
SAE INTERNATIONAL
SAE ADS Standards Roadmapping Initiative
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
6
41
Crowdsourcing Expert Feedback and Identification of Gaps
Example Feedback:
• “VRU behavior
assumptions is a
critical near-term
gap”
• “SMS
implementation
guidance needed”
SAE INTERNATIONAL
SAE ADS Standards Roadmapping Initiative
© SAE International. Further use or distribution is not permitted without permission from SAE
Copyright © SAE International. Further use or distribution is not permitted withoutCopyright
permission
from SAE International.
42
42
COLLABORATION
SAE INTERNATIONAL
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE
Global SDO collaboration
Global Ground Vehicle Standards
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
44
THANK YOU
Contact:
Edward Straub, DM
Director, SAE Office of Automation
[email protected]
John Tintinalli
Director, SAE Europe
[email protected]
Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.
45