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Energy Research Institute @ NTU (ERI@N)1 CleanTech Loop, #06-04 CleanTech One, Singapore 637141Phone: (65) 6592 1786 / 2468 Fax: (65) 6694 6217
Singapore TR 68 : 2019 - Technical Reference for Autonomous Vehicles
Presentation for IDVS4, 28 Oct 2019
Niels de Boer
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Singapore Urban Mobility Challenge
66%increase in domestic travel in last 10
years
55%of bus drivers are foreigner
12%of land used for roads
14%of land is used to house 5.5M people
versus
There is not enough space to increase the number of vehicles at the same rate as the population growth
1/3of the work force is over 50
+ 4%of land used for car parks
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Car Lite Estates
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CETRAN Centre of Excellence for Testing & Research of AVs –NTU
Centre of Excellence to support Singapore AV community Standards development Developing AV testing procedures Perform AV testing on behalf of LTA to support issue
of AV Authorization Technical lead in development of AV Technical
Reference Operator of CETRAN AV Test Centre Linking with other countries to align on standards
and testing Supporting skills development for Industry AV Developer support
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AV Trial Testbed @ one north
Test bed at One North as a future proof concept for AV testing Infrastructure to support trials Closed Circuit CCTV 5.9 GHz Dedicated Short
Range Communication (DSRC) beacons
Backend system
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Milestones are used to assess AVs before they are allowed to proceed to their next phase of trial Each milestone test will produce a test report with recommendation which is used by the Land Transport
Authority as one of the decision criteria to “pass” the AVs
Milestone 1 Ability to safely conduct
testing of autonomous vehicles with safety driver in a small scale testbed.
Milestone 2 Ability to safely conduct testing of autonomous vehicles with safety driver in a complex
environment.
Milestone 3 Ability to safely conduct testing of autonomous vehicles without or with a safety driver (with limited
control) in a complex environment. This implies high technical maturity.
Milestones for AV Trials
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Circuit Based Test
Milestone 1 Test Framework
Assessment of basic safe construction of vehicle
Assessment of the ability of the safety driver to conduct on road tests safely Not a test of the driver, but controls available to the driver
Basic AV capabilities Lane keeping / basic driving capability Controls available to safety driver Static obstacle Dynamic obstacle
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Document Review Simulation Circuit
Based Test Road Test
Milestone 2 Test Framework
Assessment of basic capabilities of vehicle
Assessment of the process capabilities of the developer Do they have processes in place to ensure that updates to the AV hardware/software is
carried out in a safe manner?
Assessment of simulation capabilities Do they have appropriate/adequate simulation capabilities to test out their software
before deployment?
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M3 assessment flow
The overall M3 test scope tailored to the operational environment and capabilities of the vehicle
AV developers request additional clarification on the relationships between milestones and test areas in order to develop true driverless capabilities
TR-68 AUTONOMOUS VEHICLES
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Technical Reference - 68
Technical Reference (TR) is a guideline published by the Singapore standards body Enterprise Singapore (formerly named SPRING) Managed in a same way as a standard Technical Committee to oversee TR Working Groups to write/revise content Industry participation at Technical Committee and Work Groups
TR seeks industry adoption as trial for a period of time, and comments received will be reviewed after the trial period
TR can become a Singapore Standards, continue as TR for further industry trials or be withdrawn
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TR Development Guideline
Form TR Development
Workgroup
Establish TR
Revise content if required
Sep/Oct 2017 ~ 202x
Establish Singapore Standards
Releases• First release TR-68: 2019 Release 31 Jan 2019• Second release TR-68: 2020 Target Release Q4 2020• Third release TR-68: 2021 Considered for release Q4 2021
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Technical Reference Scope
AV Technical Reference
Basic Behavioural Guidelines Safety Guidelines Cybersecurity Guidelines Vehicular Data Types and
Formats
Drive like a safe driver
&clarify rules in Theory of
Driving
Ensure the system is
safe
Ensure the system is
secure
Talk a common language
PART 1 – BASIC BEHAVIOURAL GUIDELINES
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Basic Behavioural Guidelines
What are they? Rules and clarification to the driving license requirements as described in the Basic Theory of
Driving and the Final Theory of Driving
Why are they needed? The driving rules are written for human drivers, not engineers Because desired driving behaviour is context sensitive, the driving rules are not black or white. “The driver shall indicate in time when changing lanes” (what is “in time”?) “The driver shall pass a stationary object on the road with a gap of minimum 1.5m” (So if the 1.5 m gap
is not feasible, do you stop and just wait till something makes it feasible?) With the current state of technology, some driving rules are no longer relevant or are no longer
able to be complied with. Waiting till the technology is matured might not be a realistic option. “The driver shall follow the hand signals of an authorised officer” (if AI can recognise all hand signals,
can it differentiate between an authorised officer and a random person? And what if this random person is a citizen taking necessary action at an accident site until the police has arrived?)
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Challenges: what is the desired behaviour?
Stop DistanceV
Y
A
BC
DBraking/detection zone
X
A B C D
speed
Milestone 1 test
X = 2 m
time
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Challenges: what is the desired behaviour?
Stop DistanceV
Y
A
BC
DBraking/detection zone
X
A B C D
speed
Milestone 2 test
X = 2 mtime
Gentle slowdown equivalent to lifting throttle
More gentle braking due to slow down
(risk reduction) earlier
Increased response time
PART 2 - SAFETY GUIDELINES
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Safety Guidelines
What are they? Guidelines for recommended safety processes to assure the safety of systems
deploying SAE level 4 and level 5 autonomous vehicles
Why are they defined? Capture industry best practices Contains elements of railway practices used for assurance of driverless trains Contains elements of aviation practices used for assurance of drones and UAVs
Especially help new entrants (start-ups and companies from non-automotive backgrounds) to understand expectations and needs for ensuring safety of driverless vehicles
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Overall approach in Goal Structured Notation format
Autonomous Vehicles operations are acceptably safe
by design
Argument design
suits ODD
Argument HARA is
comprehen-sive and complete
Argument of acceptable design
and production quality
Argument that acceptable
evidence has been provided for initial safety compliance
Argument that acceptable
evidence has been provided for
continuing safety compliance
ODD adequately described for
designers of each class of road environment
Goal
Solution
Argument
PART 3 - CYBERSECURITY
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Cybersecurity Assessment - Process
System Assessment
Penetration Testing
Report
Evaluations Recommendations
VulnerabilityAnalysis Fuzz Testing Attack Simulation
Document Review
Results
Threat riskassessment
Threat Management
System Architecture
OverviewIntended Use
Test ThreatRisk AnalysisSystems Inspection Threat Risk
Analysis Process
PART 4 – DATA FORMATS
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AV cosystem
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Message format: Abstract Syntax Notation One (ASN.1)
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Feedback on TRDevelop feedback on TR
1. Use TR content as input to milestone plan2. Get feedback from AV developers 3. Work with AV developers to find solutions and improvements4. Feed back recommendation to TR Working Group for inclusion in revision
Existing standards, data and best practices
Input to Technical Reference
Supporting R&D
Milestone Test Development
Industry Feedback
TR Working Groups
Energy Research Institute @ NTU (ERI@N)1 CleanTech Loop, #06-04 CleanTech One, Singapore 637141Phone: (65) 6592 1786 / 2468 Fax: (65) 6694 6217
Thank you