5G Enabling Technologies for Cooperative, Connected and

5G Enabling Technologies for Cooperative, Connected and

Automated Mobility

Claudio Casetti – Politecnico di Torino - CNIT

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Technologies, Services and Use Cases

• Technologies• Orchestrated 5G Edge platform

• GeoService

• AMQP Broker

• S-LDM

• Response Router

• V2X Component

• Services and Use cases• Manoeuvering Service

• Back Situation Awareness

• Use Cases

Technologies

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Implementation of the Distributed Edge cloud

• MECs / edge clouds were implemented by the three MNOs each in their respective network data centers: • Munich (Deutsche Telekom AG)

• Vienna (Magenta Telekom)

• Turin (TIM)

• It enables low-latency communication and computing capabilities for the CAM use cases chosen by 5G-CARMEN

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• Deployed and running in TIM, MTA and DTAG

• NFV-SO instances for each country running at WINGS

• UE to MEC service connectivity tested in TIM

Orchestrated 5G Edge platform

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Edge Orchestration Platform (MEC)

Brennerpass Kufstein

C-ITS Backend

Italy Germany

Network Quality of Service

Maneuver

GeoServiceEdge Controller

(Platform Mgr,

VNFM, VIM

NFV-LO, MEAO

RSU,

Sensors

NFV-SO


Edge Controller

(Platform Mgr,

VNFM, VIM

NFV-LO, MEAO


Edge Controller

(Platform Mgr,

VNFM, VIM

NFV-LO, MEAO

RSU,

Sensors

NFV-SO NFV-SO

MEC Platform, NFVI

RNIS

RAN Data

Analytics

Network

Data Lake

Austria

AMQP Broker

eNB/gNB eNB/gNB eNB/gNB

SGW, PGW /

SMF, UPF

HSS, MME /

AUSF,AMF,UDM

AMQP Broker

Traffic Control

C-ITS Backend

AMQP Broker

Traffic Control

Precise Positioning

Reference

Data

Correction

Service

LBO

SGW, PGW /

SMF, UPF

SGW, PGW /

SMF, UPF

HSS, MME /

AUSF,AMF,UDM

eNB/gNB

RNIS RNIS

MEC Platform, NFVIMEC Platform, NFVIIDM,

IDCS

Explanation

ITS V2X

NFV/MEC/MANO

3GPP

Vehicle

5G Modem,

V2X Messaging

p.PosManeuver

Management

QoS

Vehicle

5G Modem,

V2X Messaging

p.PosManeuver

Management

QoS

Vehicle

5G Modem,

V2X Messaging

p.PosManeuver

Management

QoS

Vehicle

5G Modem,

V2X Messaging

p.PosManeuver

Management

QoS

S-LDM BSAF Maneuver

GeoService AMQP Broker

S-LDM BSAF Maneuver

GeoService AMQP Broker

S-LDM BSAF

3rd party

data

HSS, MME /

AUSF,AMF,UDM

IDM,

IDCS

IDM,

IDCS

IDM

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GeoService

• The GeoService is an application deployed on the MEC which offers Connected Car basic messaging.

• It provides an overview of all the vehicles in a given area based on CAMs (Cooperative Awareness Messages)

• Its major task is to receive/forward/store messages from vehicles and road users.

• Main features:• CAM dissemination to “Area of Relevance”• DENM dissemination to Destination Area• Message Exposure/Ingestion interface• Own Service Area (OSA) support• Inter-GS communication

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GeoService

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Interworking of cross-border Geoservices• A message is

forwarded to all cars within Destination Area

• Different Own Service Areas may overlap, and so can different Destination Areas

• Each OSA takes care to disseminate in its own “portion” of DA

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AMQP Broker

• It enables messages exchange between information producers (e.g. Road Operators, vehicles) and consumers (service providers, other vehicles).

• AMQP protocol (version 1.0) is a standard messaging protocol implemented by an over-the-top application platform running on VMs installed in the MEC• network independent, accessible from every data network (mobile 4G/5G or

fixed) using TCP/IP

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AMQP Broker

Producers publish C-ITS messages adding geographic information in the AMQP “envelope”

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AMQP Broker

Consumers subscribe to messages from AMQP broker specifying filter criteria based on envelope properties

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AMQP Broker

AMQP broker pushes messages to consumers subscribed to events relevant to their geographic localization using Quadkey-based geocasting

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AMQP Broker - Quadkey

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Interworking of cross-border AMQP brokers

• Cross-border AMQP Brokers are “federated” by means of the Basic Interface• each broker acts as server when publishing messages to the other one, and as

client when subscribing to the other “federated” broker.

• In this way cars connected to one broker can receive messages from the other one too.

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Server Local Dynamic Map (S-LDM) for extended perception

• Context: • 5G-enabled MEC services require the reception of data from vehicles

• They very often require only a subset of post-processed data, related to a specific “context” on the road (e.g., only data of vehicles and other non-connected objects involved in a centralized lane change maneuver), i.e., a “map” of a portion of the road

• This map should always be up-to-date and should be ready to provide data both to other MEC services and to vehicles, guaranteeing high reliability and low latency

• Proposed solution:• The Server Local Dynamic Map (S-LDM) service, as part of the 5G-enabled 5G-

CARMEN architecture

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• The S-LDM for extended perception:• 5G-enabled MEC service storing a centralized local dynamic map of the road, containing the most

up-to-date and historical data of all the vehicles (and other non-connected objects detected thanks to sensors) travelling in a given area

• It can then provide a filtered and processed version of this data to other MEC services, when it detects certain “triggering” conditions on the road (e.g., a vehicle trying to perform a centralized lane merge)

• Developed for the Centralized Cooperative Lane Change use case, but its application is general and can be very useful for all the use cases analyzed in 5G-CARMEN

- Context sent to Maneuvering Service - Size decided by S-LDM

Turn indicator

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• Up-to-date map of the road through reception of CAMs (at 20 Hz) and other ETSI-compliant messages (in the future, also data from motorway operator backends), via AMQP 1.0 and 5G Uu

• Receiving also data of non-connected objects thanks to on-board sensors and the transmission of virtual CAMs (CPM as soon as they are fully standardized)

1.0

UuCAMs @ 20 HzvCAMs @ 20 HzCPM

Sensors

S-LDM

NEC orchestrated edge platformMNO’s MEC

AMQPsub

BMW Maneuvering Service for Centralized Cooperative Lane Change

Other V2X MEC services

Real time visualization of the situation on the road

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S-LDM measured performance and KPI requirements:• ~40 µs on average for processing

each received message• Much lower than the Service-level

Latency and 5G KPI <10 ms• Requires RX of CAMs at 20 Hz

and 5G uRLLC (latency lowerthan 10 ms)

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Response Router

• Receives messages that are due to bedelivered to a specific car via Message Broker

• According to the destination car, it publishesthe message on the topic associated to thatcar

• Works as a message dispatcher: any messageis opaque to it (i.e., it does not check itscontent) but simply injects it toward itsdestination.

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On Board V2X component

• It has the task to send, receive and process all the messages with PC5 and 5G Uu connectivity

• It consists of PHY layer units, as well as Facility and Application layer functions

5G modemV2N connectivity

V2X component

PC5 interface

AMQPClient

Filtering applications, incl. V-LDM

5G Radio Access

Position and Timing

V2N RA (external)

CAM, DENM, IVI, CPMVehicle Data Provider

BSAFClient

Precise Positioningunit

AD component

GeoserviceClient

Quality Control

Predictive QoS Client

CAN

Services and Use Cases

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Manoeuvering Service

• Monitors the current state of theroad traffic and the intentions ofvehicles

• Determines the most suitablemoment to execute a lane change ifrequested

• Manage the gaps between vehicles,such that the maneuver can be donesafely and efficiently

• Generates recommendations forvehicles to follow if possible.

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Manoeuvering Service

• It leverages an algorithm consisting of a Tactical- and Operational- Controller.

• The Tactical-Controller computes the most efficient merging sequence and time instant.

• The Operational-Controllergenerates the optimal control output for the car.

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Back Situation Awareness Service

• Support for L3/L4 vehicles manoeuvering to clear the way for Emvergency Vehicles (EmV) on the highway

• High-level requirements:• Warn proceeding vehicles beyond the visual/audible range of the EmV

• Provide vehicles with an accurate, up-to-date Estimated Time of Arrival (ETA) of the EmV.

• Provide a continuous service, from long-range warning/alert of the EmV’sETA, to short-range awareness of the EmV’s ETA when the EmV is within direct communication range

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BSA service - overview

• BSA service deployed on the Orchestrated Edges platform in all three countries

• on–demand service used to support emergency situations on the corridor

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BSA service - overview

• receives CAM traffic from an emergency vehicle (EmV) (1)

• disseminates DENM notifications with ETA values via GeoService (2) to other vehicles in areas affected by emergency situation (3)

• cross-border: proactively sends application metadata to peering instance

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Use Case Matrix

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Cooperative and Automated Lane Change

Highlights

• Maneuvering Service provides speed recommendations to involved vehicles

• Integration with: S-LDM, Response Router, AMQP broker, Precise Positioning

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Use Case Matrix

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Cooperative and Automated In-Lane Manoeuvers1

BA

2

A B

Plan

Exit/lane change plan would fall outside L4 ODD (queue)3

BA

Invalid plan; needs replanning

Sensors detectqueue

Decision: keep going straight4

Demo highlights

• Extended Lateral perception

• Lane change suggestion with right lane clear

• Lane change prevention with right lane busy

Thanks!

Documents

5G Enabling Technologies for Cooperative, Connected and