Author Archives: Meng Lu

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Save the date: MAVEN workshop – 24/10/18 in Greenwich, London

The next MAVEN stakeholder workshop targeting local authorities will take place in Greenwich (London) on 24 October 2018.

The workshop’s aims are to:

  • explore in more detail how increasingly instrumented vehicles are likely to behave on urban roads and how this may affect the traffic management task and wider transport goals
  • provide insight to the role that communication technology can play in the shorter-term of connected transport and the longer-term of automated transport
  • promote reflection among local authorities on their traffic management role and responsibility as CCAV evolves
  • get your input on the traffic management policies the MAVEN project will evaluate in its final phase

Local authorities are the main target group of this workshop; however, it is also open to other urban transport stakeholders with an interest in CCAV. A small budget to help cover the travel expense of local authority representatives is available.

The draft agenda will be available soon. Meanwhile, online registration can be found here.


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EC publishes its plans regarding connected and automated mobility

The recently launched Third Mobility Package of the European Commssion includes a communication on connected on automated mobility.


The communication sets out the EC’s agenda for connected and automated mobility, which is essentially about building an apt legal framework with due regard for ethics and society and providing financial support to move this agenda forward. While it acknowledges the importance of automation to address safety and to keep the EU’s automotive industry competitive, it stresses the need for automated vehicles to deliver new, cost-effective services that are integrated into the transport system and support social inclusion. The communication is very relevant to the MAVEN project as it covers many integration issues such as the link between automated vehicles and traffic management and infrastructure and it asserts the need for connectivity, including C-ITS, to enable automation.

The communication proposes many actions to be taken including:

  • Regulation of platooning under the revision of the General Safety Regulation for motor vehicles
  • Regulation related to safe and trusted communications between vehicles and the infrastructure, which complies with the General Data Protection Regulation
  • Consider the need for specifications, under the ITS Directive, for access to in-vehicle data by public authorities to support the traffic management task.
  • Intensifying coordination with Member States on traffic rules to ensure they are fit for automated vehicles
  • The development of guidelines to ensure a harmonised approach for national ad-hoc vehicle safety assessments of automated vehicles
  • Kicking off a process of building a new approach for vehicle safety certification for automated vehicles
  • Regulation of data recorders for automated vehicles to clarify who was ‘driving’ in case of an incident


For further information, download the 2-page summary here or the full communication here.

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MAVEN Workshop at the 4th IEEE SCSP 2018 in Prague

The MAVEN workshop on “Autonomous vehicles for smart cities” was held on 25th  May 2017 at the fourth IEEE (the Institute of Electrical and Electronics Engineers) Smart Cities Symposium Prague (SCSP 2018), organized by the Faculty of Transportation Sciences of the Czech Technical University (CTU).

SCSP 2018 is an international scientific conference with over 180 participants from 15 countries. The symposium received auspices form the City of Prague. JUDr. Martina Děvěrová, Chief Executive of the City of Prague, along with the Dean of the Faculty of Transportation Sciences, Doc. Ing. Pavel Hrubeš, Ph.D., opened the symposium. The main objectives of the MAVEN workshop are:

  • Present the state of the art in autonomous driving;
  • Introduce another dimension of autonomous driving: view of city transport managers;
  • Provide discussion on the topic of autonomous vehicles;
  • Discussion of expected impact of autonomous driving (Expectation on impact / How to measure impact / Next steps / Future trends / and others).

The workshop was moderated by CTU (prof. Ing. Ondřej Přibyl, Ph.D. and doc. Ing. Zdeněk Lokaj, Ph.D.). Dynniq (Robbin Blokpoel, Ph.D.) in its presentation set the base for autonomous driving discussion and presented the developments in the EU projects MAVEN and TransAID. The workshop was supported by interactive online questionnaire Mentimeter. The audience of over 50 participants was asked 17 questions. The answers were discussed with valuable input from the audience making the discussion an important part of the workshop. Participants could follow the results live, such as in the figure below:

The MAVEN workshop was highly appreciated by the participants of SCSP 2018 and received a very positive feedback. The results of the questionnaire will be processed and analyzed as part of the MAVEN deliverables.

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Milestones for V2X communications reached and presented at ETSI ITS workshop

MAVEN has developed V2X communication schemes and message sets for infrastructure-assisted automated driving. For the cooperative infrastructure, an I2V Lane Change Advisory service and a dedicated profiling of the SPaT (Signal Phase and Time) and MAP (topology) for lane-specific GLOSA were developed. For the cooperative automated vehicles, extensions of standard CAM (Cooperative Awareness Message) messages have been designed to allow interaction with cooperative intersections and to support management and control of platoons. Finally, the currently under standardization Collective Perception service has been adapted to the needs of MAVEN to support the applications of cooperative and automated vehicles aimed at increasing the safety of VRUs (Vulnerable Road Users) and vehicle drivers. The developed schemes are backward compatible as required by the car industry and to foster their future deployment. They are provided in terms of ASN.1 (Abstract Syntax Notation One) definitions and detailed message data specifications that can be openly accessed. The aforementioned communication schemes have been tested in small test benches aimed at evaluating the technical functionality of the developed solutions from a communication point of view, and hence their suitability for integration in infrastructure and vehicle prototypes. MAVEN has actively contributed to the European ETSI standardisation in this area, especially for the collective perception definitions. All the aforementioned communications schemes were presented at the 2018 ETSI ITS Workshop:

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Vehicle milestones for communication and platooning reached

MAVEN has completed vehicle automation developments, which allow the reception of Signal Phase and Timing (SPaT) messages from the infrastructure. The vehicle automation takes the desired speed sent by the Road Side Unit (RSU) for the upcoming traffic light into account when planning the correct behavior. As the MAVEN vehicle is longitudinally and laterally automated at the end, the vehicle reaches the green light fluently or comes to a smooth stop when passing at green is not possible.

For platooning a set of four state machineshas been developed. These state machines have been implemented in the vehicle automation to proof if the MAVEN urban platooning concept is working as desired. The image shows the state machines and the related behavior of an automated vehicle when reaching another automated vehicle able to form a platoon on the road. The working principle is illustrated in the figure below:

While driving, the cooperative ego vehicle on the left receives information about a cooperative vehicle in front which is also able to form a platoon (1).  This information includes position, velocity, acceleration and also planned behavior on the upcoming intersection (turning/going straight). After processing this data in the platooning logic, the ego vehicle decides to form a platoon (2). Now it communicates this to the vehicle ahead, which receives this information, accepts and provides detailed trajectory information to the follower. Hence, the ego vehicle adapts its velocity in order to close the gap (3). When the gap is closed, the initialization is done and the vehicles follow each other in a platoon (4). The following vehicle is always in charge of choosing an appropriate distance. If the follower does not trust the leader, or recognizes any other thread, it can immediately stop platooning.

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Infrastructure simulation video released

As the MAVEN project is reaching the halfway point, intermediate results are becoming available. The workpackage dealing with innovations on the infrastructure side has prepared a video to explain the main concepts to the general public. An additional video was prepared for the expert audience showing actual footage from the system coupled to the traffic simulator SUMO:

Further details can also be found in Deliverable 4.1 with detailed descriptions of the infrastructure systems related to queue modelling, actuated control with green light optimal speed advisory and plan stabilization for adaptive control. This document can be dowloaded here.

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MAVEN considered in the C2CC forum

On 28-29t of November 2017, the Car-to-Car Consortium (C2CC) forum took place in Braunschweig, Germany. At this event with approximately 250 visitors, the project coordinator, Robbin Blokpoel (Dynniq), held a presentation during one of the plenary sessions. The presentation was well received by an interested audience. The MAVEN project has also made a second appearance during the presentation of the C2CC roadmap, where the project is considered for input to day 3 and 4 services. The event strengthens the bond between MAVEN and the C2CC, which is vital for the projects’ efforts to contribute to standardization of message sets for automated driving. You can download the presentation here.

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MAVEN-TransAID-CoEXist workshop for city and regional authorities

MAVEN teamed up with the TransAID and CoEXist projects for a workshop aimed at gathering input from local authorities on various items of work underway within each of the projects. Some 50 people attended this workshop, including nearly one half from city or regional government and the public transport sector. The plenary session in the morning saw brief presentations about each of the projects and about the AV activities of Gothenburg and Greenwich as well as wider inputs from the vehicle automation expert Bart van Arem and Polis. After lunch, the audience split into project-respective groups.

The purpose of the MAVEN session was to gather feedback on the structure of the MAVEN transition roadmap, which is intended to assist cities in determining their role and responsibilities in automated driving, giving special attention to the role of traffic management and its level of guidance at various phases of the transition. Discussions were quite far ranging, from the role of AVs in cities and questions about why cities should be facilitating their introduction to the more specific topic of data management and the possibilities for direct vehicle-infrastructure interaction enabling automated vehicles to be controlled in a more dynamic manner.

Specific questions and comments made include the following:

  • Who is responsible for the vehicle-generated and who has overall ownership of data?
  • Will the traffic management be capable of dealing with the large amounts of data generated by tomorrow’s vehicle?
  • What is the procedure in case of system failure?
  • How does an AV interact with a traffic management centre?
  • Do we need to adapt the infrastructure to AV or should it be the other way around?
  • Public acceptance: is there enough trust in technology?
  • How will liability be addressed in a future of CAVs?
  • How to make systems sufficiently robust to prevent hacking?
  • MAVEN should also look at use cases where people want to get out of an AV, eg, parking
  • How scalable is the MAVEN approach?
  • The project’s roadmap should limit itself to traffic management only and go deeper in one topic
  • Clarify the ICT infrastructure requirements: on the roads and under ground (eg, 5G network)

A full workshop note and all presentations can be downloaded from the following webpage.

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Helmond pilot

The pilot site in Helmond offers a state of the art infrastructure with all major intersections equipped with cooperative roadside units. Furthermore, the adaptive control algorithm ImFlow traffic control provides the opportunity to implement many different policies. 
Hyundai vehicle facts:
· Based on a series production Hyundai Ioniq (Hybrid)
· Front Sensing: Mono-Camera, Long-Range-Radar, LiDAR
· Side Sensing: 360° Radar (Short-Range-Radar System), Ultrasonic Sensors
· Trunk installed CarPCs used for sensor data fusion, path-planning, vehicle control and V2X

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Braunschweig pilot

This pilot site offers the latest with respect to infrastructure detection as part of the Application Platform for Intelligent Mobility (AIM) test site. Stereo video detection combined with radar and hemispherical dome camera’s enable the infrastructure to enhance the safety of automated driving.

The demo site Tostmannplatz in Braunschweig has four approaches which are controlled by traffic lights. There are two lanes per direction on the main road and additional lanes for left-turning. The so far applied signal control uses a number of induction loops for vehicle-actuated green time adjustment, based on time gaps. A bus line passes through the intersection without preemption.

Since the existing induction loops did not cover all requirements in other recent research projects, additional detectors were applied. Magnetic field sensors were used for installation in the roadway surface. They have the advantage that a cabling over long distances could be avoided, because their information transmission to the signal controller is wireless. In some approaching lanes additional sensors were installed in order to better handle effects such as e.g. cutting the curve when turning.

In addition to the magnetic field sensors, the demo site is equipped with a roadside unit (RSU). The RSU contains a V2X unit, which enables direct communication with equipped vehicles. Since the Tostmannplatz is an intersection within the AIM network (Application Platform Intelligent Mobility), the RSU is basic technical equipment.

Furthermore, the demo site is equipped with an additional mini PC. On this PC the traffic simulation SUMO is used to transform the point-based vehicle detections from the in-road sensors into continuous measurements of vehicle positions and speeds by modelling the state of traffic around the intersection. This is applied to compensate for the insufficient V2X equipment rates. The mini PC is connected with the signal controller and can be used to adapt the traffic signal timing.

The demo site Tostmannplatz in Braunschweig will be used for most of the MAVEN use cases, including urban platooning, cooperative sensing and speed and lane change advisory.