Infrastructure-assisted Autonomous Driving Assist System

Advanced Technologies Supporting GMPS03

Human hair
150μmφPosition detection accuracy of +-5 mm isachieved by actual vehicle measurement(accuracy of +-1mm in lab)
In the "precision docking" system, whichclosely stops at bus stops, tens of millimeters
can be realized in combination with vehicle
control even for large buses.

Amorphouswire
15μmφ

MI sensor element

2mm05

bridgejoint of bridge

manholegeomagnetism

oncoming car04

Acquisition of high-precisionabsolute coordinates

RF-ID enables the identiﬁcation of individual
magnetic markers.
In addition to the conventional high-precision
position detection by magnetism, it is now
possible to obtain absolute coordinates.

Position detected from the image(mm)Magnetic force of the ferrite magnet, which is
the material of the magnetic marker, issemi-permanent in the natural environment.
Therefore, it has a durability that is
suﬃciently longer than the repair period of
the road surface.

Ferritemagnetic particles

plastics

06

Preventing spooﬁng ofmagnetic markers

The position information of the newly detected marker is always comparedwith the last detected data.
Alarms can be issued if they diﬀer signiﬁcantly from the expected.
In addition, for markers with RF-ID, the information held can be encrypted
and set it so that only the authorized vehicles can read it.

07

Method of magnetic marker
installation on road08

Cost of laying magnetic markers

・Marker uses ferrite magnetic materials, which are widely available aroundthe world, and there are no resource problems or concerns about higher
prices.
・The installation cost is expected to become cheaper by using automatic
installation machines.
・There is no problem with the conventional disposal process for discarded
asphalt generated at the time of road resurfacing.

Draw an assumed driving trajectory on theroad, and then bury or aﬃx markers at
predetermined intervals on it. No prior survey
required.
After installation, the position can be measured
in a short time using a total station, etc.,
starting from the position reference point.
For surface-mounted types, we are developing
an automatic installation machine forcontinuous attachment.

09

Integration with autonomous navigation
IMU (gyroscope, accelerometer)

Magnetic marker position information installed at key locations
can be utilized for cumulative error correction of position,
which is one of the issues of autonomous navigation, and forrelocation after loss, and the accuracy of autonomous
navigation can be dramatically improved.
In addition, it is possible to greatly reduce the burden of dataprocessing required for the process of identifying the vehicle
position by embedding the coordinated information of magnetic
markers within digital three-dimensional maps in the future.

TOPIC

Magnetic Marker’ s Geographic Coodinates in 3D Map
35.669552, 139.778463
35.669551, 139.778464

35.669574, 139.778483
35.669573, 139.778484

Wheel odometry
Magneticmarkers

Steering angles

In 2020, the Japanese Road Act was revised to position "Facilities to assist autonomous driving (Magnetic Markers,etc.) as a ﬁxture to roads (in the case of private businesses, a road occupying structure)" under the provision of"Maintenance of Facilities that Assist Autonomous Driving in the Road Space."

Contact

Aichi SteelGlobal Magnetic Positioning System±5mm↑

Durability of magnetic markers
on road surfaces

Disturbance magnetic ﬁeldin real environment

magnetic marker

magnitude of magnetism(μT)

Magnetic noise disturbancerejection

A noise elimination process that responds
only to magnetic distribution patterns ofmarkers was developed.
We have made it possible to extract a marker
signal buried in the surrounding noise.
The eﬀectiveness of this noise removal
technology has been demonstrated in avariety of road environments to date.

02

The position by the magnetic marker(mm)Uses an ultra-high sensitivity magnetic
sensor "MI sensor (magnetic impedancesensor)" that applies Aichi Steel's advanced
material "amorphous wire".
It has the potential to detect the magnetic
ﬁeld of the magnetic marker even at a
distance of 1m.
※The product is optimized for a distance of20cm.

Vehicle position detection
accuracy↑

01

Ultra-sensitive magnetic sensor

https://www.aichi-steel.co.jp/ENGLISH/smart/mi/gmps/

Surface Mount Type
Magnetic Marker
100φ×2mm

GMPS can complement conventional autonomous driving
and contribute to sooner practical implementation.

GMPS (Global Magnetic Positioning System) is an infrastructure assisted high precision vehicle position estimation system that utilizes weak magnetism.
Simply install the magnetic markers on the necessary parts of the road and mount the sensor unit on the vehicle.
Even at spots that are difficult with conventional autonomous driving, the vehicle position can be found to within millimeters.

Use Cases❶

Enables accurate❹

automotive position
estimation anywhere.

❾❺❽❸

❶

Factory logistics andhome delivery robots

Automatic operation of AGVs in
two-dimensional planes in
airports and harbors by placing
markers in a grid⓫

Distribution vehicles on theplant premises❸❹

Running under elevatedrailway tracks
Under elevated tracks whereGPS signals do not reach

Driving in high-risecommercial districts
Built up streets where GPSsignal multipaths occur❺

Office home-delivery
robots
Vehicles for delivery between
offices❿

❼

❷

❻

❻

❼

Underground parking
and valet parking

BRT (Bus Rapid Transit)
Precision docking, lane passing
assist, fully automatic operation

System Configuration

Indoor valet parking❽❾

Precision docking
at bus stops
As long as it is within the sensor
width range, a single marker line canbe used to achieve accurate docking
by traveling in the center of the laneand shifting the width of the lane.

❿Monotonic landscape,non-reflective environment, dense fog

SnowfallIn an environment withsnowfalls and fallen leaves
where white line reading
becomes impossible

In circumstances where sensing
by LiDAR is difficult⓫

Running in tunnels
In tunnels where GPS signals
do not reach

Arrangement of Magnetic Markers*1

Example of Magnetic Sensor Unit in Vehicle
Large vehicles (for buses and trucks)
Self-drivingsystems❷

Airport GSE
vehicle control

Wheelodometer

1290mmCompact mobilityHorizontal
Vehicle speed
deviation (mm)pulse
OthersMagnetic sensor unit

You can flexibly set the arrangement pattern of magnetic markers on the road. Through the use of RF-ID data and the setting ofmagnetic poles, with the marker as our landmark, we are now able to realize a free trajectory.

Case1 Plant Logistics

Case2 Expressway

Markers not laid down evenly but usedas landmarks for correcting positions.

Corresponds to mergers and lane changes byutilizing N and S poles and RF-ID location information

Placed as required (2m interval pair placed 10m)

Installing different polarity by Lane + Adding RF-ID Positioning to Pre-Merger Markers

810mm

Distribution robots
300mm〜

Magnetic marker
RF-ID data: Mainline convergence laneN pole marker
S pole marker

RF-ID data: 100 meters ahead of mainline convergence

RF-ID chipUHF-band 920MHz antenna pattern is
not affected by minor surface flooding.

Buried type
30φ×20mm

Surface installation type
50φ×2mm
100φ×2mm

Buried type ......... Recommended for harsh conditions
where the road surface is scraped, suchas by snow-removal vehicles
Surface installation type ... Recommended for applications wherevehicles are less likely to drive overmarker or for temporary priority services*1 Specifications are subject to change without notice during development.

RF-ID data: 200 meters ahead of mainline convergence

Magnetic flux density (micro tesla)

Magnetic marker (with unpowered RF-ID)

Case3 Bus only road
Magnetic flux densityof magnetic marker

With a sinlge line of magnetic markers, in addition to passing by in the center of the road, it also provides offset and precision docking functions.
Four N poles (no RF-ID) and one S pole (with RF-ID) are installed at intervals of 2m each.

Offset of the travel center
Measurement position (mm)N pole marker

S pole marker

Demonstrating Reliability
in Various Environments in JapanGMPS Demonstration and Implementation
TimingRegion

Location
Michi-no-Eki
Okueigenji Keiryu no Sato

Sponsored byFeatures

Ministry of Land
Infrastructure, Transportand Tourism (MLIT)

Drive in mountainous areas where GPS signals do notreachCabinet Office"Implemented ""precision docking"" to accurately alignwith and stop at the bus stop."

1Nov.17

Higashiomi Shiga2

Dec.17

Ginowan andKitanakagusuku Okinawa

3Dec.17

Taiki Hokkaido

Michi-no-Eki
Cosmall taiki

MLIT

Drive in snow where reliability of on-board cameras isnot sufficient

4Feb.18

Ina Nagano

Michi-no-Eki
Minami Alps Mura Hase

MLIT

Traveling in tunnels where GPS signals do not reach or
narrow dog-legs with a road width of 4.5m

5Apr.18

Kitakyushu Fukuoka

Kitakyushu Sciece City

Kitakyushu City

Steady running at a maximum speed of 40km/h andcontrol adjustment at the intersection left-turn6Oct.18

Hitachi Ibaraki

Hitachi BRT some routes

MLIT and Ministry ofEconomy, Trade andIndustry (METI)

Exclusive bus roads and public roads using abandoned
rail lines

7Nov.18

Ina Nagano

Michi-no-Eki
Minami Alps Mura HaseMLIT

Traveling in tunnels where GPS signals do not reach ornarrow dog-legs with a road width of 4.5m

8Jan.19

Rikuzen Takata Iwate

Ofunato Line BRT Vicinity ofTakekoma Station

JR EastCarried out alternate passage with oncoming vehicles
on roads exclusively for buses and precision docking
control

9Jan.19

In an airport restrictedarea

4 airports including
Haneda AirportMLIT

Run below the boarding bridge where GPS does notreach in airport restricted areas

10Feb.19

Tama Tokyo

Tama New Town

Tokyo Metropolitan
Government

Driving on public roads that GPS cannot reach due topedestrian bridges and street trees

11Jun.19

Taiki Hokkaido

Michi-no-Eki
Cosmall taiki

MLIT

Drive in snow where reliability of on-board cameras isnot sufficient

12

Nov.19Onagawa Miyagi

Miyagi Prefecture

Returning ultra-compact shared electric vehicles to thestation by unmanned driving

13

Dec.19Shibukawa Gunma

Gunma University"Traveling while performing roadside-to-vehiclecommunication in which the vehicle receives signal
information, etc. from magnetic markers installed on theroad surface"

14Feb.20

Tome Miyagi

Kesennuma Line BRT
Yanaizu-Rikuzen Yokoyama

JR EastLarge buses run steadily at a maximum speed of60km/h

15Jun.20

Kashiwa Chiba

Kashiwa Campus, Tokyo
University-Kashiwanoha Campus
StationKashiwa ITS Promotion
Council

Driving on public roads that GPS cannot reach due tostreet trees

16Jul.20

Sanda Hyogo

METI

Ensuring Intra-Regional Transportation to Improve theQuality of Life in Suburban Residential Areas.

17Jul.20

Otsu Shiga

METI

Creation of new transport axes and livelihoods at urbancenters.

18

Aug.20

Ota Tokyo

Haneda Airport

Cabinet Office"Steady driving at a maximum speed of 60km/h while
performing precision docking control, lane change, andright/left turn"19Oct.20

Tokoname Aichi

Chubu International
Airport Island

Aichi Prefecture

Running on railway bridges or terminal buildings whereGPS cannot reach20

Nov.20

Kitakyushu Fukuoka

METI

Travel below elevated roads (about 1.3km) where GPS
is difficult to reach between airports and railway stations.

21

Dec.20

Hitachi Ibaraki

METI

Implementation of Automated Drive Buses on BRTRoutes.

22

Dec.20Tokoname AichiAichi Prefecture

Drive level 4 through the restricted area

23

Feb.21

Hamamatsu and Morimachi Shizuoka

METI

Track-following unmanned fleet running on highway
SA/PA and ramp-ways

24

Feb.21

Tome Miyagi

JR EastLarge buses run steadily at a maximum speed of
60km/h.

25

Feb.21

Yokohama Kanagawa

METI

Sustainable transport services in suburban residential
areas in the Hill area of the Tokyo metropolitan area.

26

Sep.21

Tome Miyagi

JR EastPassing each large bus on roads exclusively for buses.

27

Nov.21Tokoname Aichi

Aichi Prefecture

Installing magnetic markers every 10m on straight road28

Nov.21

Takahata Yamagata

MLIT

Low speed driving by Green Slow Mobility

29Aug.22

Shimanto Kochi

MLIT

High-precision within ±100 mm with GMPS (only onesensor module) and IAMU only30

Oct.22

Tokoname Aichi

Aichi PrefectureFirst in Japan to run on toll motorway

31

Dec.22

Tome Miyagi

JR EastFirst social implementation of GMPS in Japan32

Dec.22Kure Hiroshima

Town Areas

Kure City

Utilized in GPS non-delivery areas

33

Jan.23

Takahata Yamagata

Around Takahata town hall

MLIT

Low speed driving on snowy road by Green Slow
Mobility

Contact

Chubu International
Airport Island
Hamamatsu SA andEnshu Morimachi PAKesennuma Line BRT
Yanaizu- Rikuzen Yokoyama

Kesennuma Line BRT
Yanaizu- Rikuzen Yokoyama
Chubu International
Airport Island
Around Takahata hospital
Ekawasaki Station and Michi noeki Yotte Nishi Tosa
AEON mall tokoname and Chubu
International airport
Kesennuma Line BRT
Yanaizu- Rikuzen Yokoyama

Aichi Steel Corporation https://www.aichi-steel.co.jp/smart/mi/gmps/index.html