15 th June 2018
Satoru Nakajo

Spatial Information Business team leader,
Mitsubishi Research Institute Inc.

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Contents of this presentation
0. Self introduction

1. Purpose of this Presentation
2. Activity of SIP-adus of Japan
3. What is “Dynamic Map”?
4. International Cooperation
5. Expectations for GNSS

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Self Introduction
1. Purpose
 Satoru
Nakajo of this Presentation
 Doctor of Engineering (the University of Tokyo)
 MBA (McGill University)
1998Consultant, Mitsubishi Research Institute Inc.
2008-2012, 2017Visiting researcher, Center for Spatial Information Science (CSIS), the University of Tokyo
2012-2017
Project Associate Professor, CSIS, the University of Tokyo
2018Visiting member of Faculty, Nagoya University
Guest Professor, Tokyo City University

 Member of SIP-adus, a project for automated driving
 Convenor, ISO/TC204 SWG3.3, location references for ITS
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1. Purpose of this Presentation

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Purpose of this Presentation
1. Purpose of this Presentation

 Introduction of activity for developing map for ADS(Automated Driving Systems) in Japan
 Car OEMs, system benders and map providers are developing“Dynamic Map”, a map system for ADS.
 the Cross-ministerial Strategic Innovation Promotion Program(SIP) of Cabinet Office of Japan supports this project.

 Discuss the expectations for GNSS from ADS perspective
 Explain the personal views.
 Discuss the possibility, etc.

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2. Activity of SIP-adus in Japan

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Overview of SIP program
SIP: Cross-ministerial Strategic Innovation Promotion Program Start from FY2013.
 The Council for Science, Technology and Innovation selects 10 projects.
 Cross-ministerial Initiatives.
 Promote focused, end-to-end research and development, from basic
research to practical application and commercialization.
 Total budget for FY2015 is ¥50 billion (around 400 million euro).

¥2.32 billion (FY2015) (around 18.8 million euro)
Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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Overview of SIP program
Targets / Goals of Automated Driving System program (SIP-adus) Set national goals to reduce the number of annual traffic fatalities to
2,500 or fewer by the year 2018 and create the worldʼs safest roadtraffic environment by the year 2020.
 Develop automated driving systems, including next-generation urban
transportation infrastructure, to accomplish these goals.
 Drastically reduce accidents and traffic congestion for a major leap
forward in travel convenience.

adus:
Automated
Driving for
Universal
Services

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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Scope of SIP-adus(I) Development and verification of
automated driving system(III) International
cooperation

Road Transport system
DriverRecognition

Judgment

Traffic environment(5) System Security
Recognition(1) Dynamic Map

Operation(4) Driver Model

Judgment

Operation

Area of Cooperation(2) Prediction basedon ITS information(3) Sensors(1) Open researchfacility(2) Social acceptance(3) Technology
transfer

Area of Competition(1) Enhanced local
traffic management(2) Next generationtransport system

Vehicle(1) Traffic fatality reduction effect estimation method & national shared database(2) Macro and micro data analysis and simulation technology(3) Local traffic CO2 emission visualization technology(IV) Development for
next generation
urban transport(II) Basic technologies to reduce
traffic fatalities and congestion
Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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3. What is “Dynamic Map”?

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Dynamic Map

Link
API
OEM

.

Base
API :
Application
ProgramInterface

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)10

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Example of Application: Vehicle Position Detection

GNSS Laser scanner （LiDAR）

Radar

Camer
a

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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Dynamic Map Data Structure and Scope for
Cooperation
Dynamic map
Dynamic information

Location reference method(nearby vehicles, pedestrians, signal information, etc.)

Semi-dynamic information(accident information, traffic congestion information,short range weather information, etc.)

Semi-static information* Traffic congestion information* Road construction restriction information* Traffic restriction information, etc.
Distribution of the above information is currently
being coordinated(traffic restriction information, road construction information,
long range weather information, etc.)

Basic maps supplied by SIP adus

Static information
Navigation map(road surface information, lane information, etc.)* Road shoulder* Center line
* Lane line
* Lane edge
* Stop line
* Pedestrian crossing* Road marking* Traffic signal* Road sign

Collaborative area(features used by many OEMs)
Competitive area(features designed by individual OEMS for productdifferentiation purposes)* Carriageway link
* Lane link
* Intersection lane link
* Area-formedintersection* CRP node
14 features

Additional data prepared by test participants
based on test contents and functions to be
implemented

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)12

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Sample Expression

Road Signage【real feature】
Traffic Signal【real feature】

Pedestrian
Crossing【real feature】
Intersection Area
【virtual feature】

Traffic Signal【real feature】
Road Signage【real feature】
Pedestrian
Crossing【real feature】
LegendStop Line【 real feature 】: Lane Link [Virtual feature]: Carriageway Line [real feature]: Road Marking (instruction) [real feature]: Carriageway Link
[Virtual feature]: Intersection Area [Virtual feature]: Road Shoulder [real feature]

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

Copyright (C) Mitsubishi Research Institute, Inc.

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Areas for Static Map Trial
Link length
(km)

Route
Joban Expressway

60.0

Shuto Expressway

189.6

Tomei-Expressway

296.0

Shin-Tomei Expressway

124.0

Surface streets

89.1

Trial section total

758.7

Route 1
Hadano-Nakai Interchange ↔ Tomei Expressway (leftroute outbound on Oi-Matsuda ‒ Gotemba section) ↔
Gotemba Junction ↔ Shin-Tomei Expressway ↔
Shimizu-Ihara Interchange (approx.. 196 km)

Route 2
Tokyo Interchange ↔ Tomei
Expressway ↔ Yokohama-Machida
Interchange (approx. 38 km)
Route 3
Ariake Interchange ↔ Shuto Expressway Bayshore Route ↔
Tatsumi Junction ↔ Shuto Expressway No. 9 Fukagawa Route ↔
Hakozaki Junction ↔ Ryogoku Junction ↔ Shuto Expressway No. 6
Mukojima Route ↔ Komagata Interchange (approx.. 20 km)

Explanation
FY2016 section
FY2017 section

Activities to ensure conformity with public surveys and achieve
multipurpose application will continue together with the trials.
Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)14

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Positioning of the Dynamic Map Field
Operational Tests
Testdetailsa.
b.
c.

Validation of specifications and precision of static, high-accuracy 3D map data
Validation of data updating and distribution systems
Validation of linkage of dynamic data delivered from infrastructure, etc.
c. Use of dynamic data

GNSS

Laser
scannera. Specifications and precisionof map datab. Updating anddistribution of data

Information on road regulations
Information on traffic congestion
Road update information
Information on falling objects,
etc.

Functions of the Dynamic Map Center
・ Linking of dynamic data frompublic information and infrastructurewith the dynamic map

CameraMilliwave radar
Objectives■ Confirmation of and agreement on final specifications toward practical implementation of the dynamic map■ Promoting standardization activities■ Promoting R&D on use of the dynamic map and development of applications

Benefits ofparticipati
on■ Participation in opportunities to table desired features and proposals toward practical implementation of the
dynamic map■ Participation in examining details of proposals for standardizations■ Acceleration of R&D at participating companies* Dynamic Map Field Operational Test Briefing (Material created by NEDO)
Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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Field Operational Test Participants

Daihatsu Motor Co., Ltd.
Continental Automotive Corporation
Meiji Logitech Co., Ltd.
Toyota Motor Corporation
Pioneer Corporation
Suzuki Motor Corporation
BMW
Honda R&D Co., Ltd.
Alpine Electronics, Inc.
Volkswagen Group
Calsonic Kansei Corporation

Mazda Motor Corporation
Mitsubishi Electric Corporation
Mercedes-Benz Japan
Omron Corporation
Subaru Corporation
Robert Bosch GmbH
Nissan Motor Co., Ltd.
ZMP Inc.
Saitama Institute of Technology
Nagoya University
Valeo
Total: 22 Organizations*As of the end of March, 2018 Participants in the Dynamic
Map or HMI tests

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Schedule and Progress Static maps for 758.7 km have been provided to participants
 Tested more than 90 days/route in October and November
Main item

Sub-item

Supply andStatic highevaluation of precision 3D
dynamic map map data
data andtools

Supplied data, tools, etc

Classification

Static high definition 3D map
data (304 km)+ Viewer

SupplyStatic high definition 3D map
data (758.7 km)+ Viewer+ API (Step 1)
Static high definition 3D map
data (updated data)
Static high definition 3D map
data (updated data:
incorporation of
improvement requests, etc.)

Semi-static / Semi-static / Semi-dynamic
Semi-dynamic information
information+ Viewer+ API (Step 2)
Dynamic
information
Document
submittal

8

9

10

2018
11

12

1

2

3

4

5

6

7

8

9

10

11

12

Requests for improvement of evaluation of features
and attributes and map data, etc.

Evaluation
SupplyEvaluation
SupplyEvaluation
SupplyEvaluation

Incorporationof opinions

SupplyEvaluation

Dynamic information

Preparation/updating of test plans

2017７

SupplyEvaluation
Submittal offirst version
Submittal of
updated version

Application for use of outcomes / license
agreement for map data relating to the
dynamic map field operational test

Application foruse ofoutcomes
Licenseagreement

Meeting

Dynamic Map Field Operational Test Working
Group

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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Test Process for Static Information Updates
and Delivery
Location reference method(1) Study of use cases
Dynamic information
Semi-dynamic
information

Semi-static information

Types of road conditionchanges, etc.

(2) Arrangement of mattersrequiring updates
Update units, frequency, etc.

Static information(3) Study of update rules,
information to be added tohigh definition 3D maps, etc.
Study of the update
scope and conditions
for this portion*More than 9,600 road signs, traffic
signals, and road markings exist in
the section provided in September(approx. 300km).

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)18

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Static-Dynamic Information Field Operational
Test Area (Areas are under discussion)
Dynamic map

Test area (candidate)

Dynamic information

TBD

Semi-dynamic information

TBD

Semi-static information

TBD

Static information (update)

TBD

JARI

Joban
Expressway

Shuto
Expressway

TomeiExpressway

Shimbashi,Toyosu, Odaiba

Shin-Tomei
Expressway

Explanation:
Blue line: Zone supplied in September
Red line: Zone supplied in December

A reduced-shade map of the Geospatial
Information Authority of Japan is used as thebase map.

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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4. International Cooperation

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Activities
 Promotion of items in ISO/TC204/WG3
 GDF5.1 CD20524-1, NP20524-2
 Lane-level location referencing method: NP17572-4
 Map data model for automated driving: PWI22726, others
 Promotion of dialogue and cooperation with domestic and overseas
bodies using SIP-adus workshops and other opportunities
 DMP, JAMA, JASPAR Tri-lateral meetings: ART-WG, OADF, NDS, ADASIS, SENSORIS, TNITS, TISA, etc.
 Systems for future discussions
 Establishment of a small body to discuss standardization strategies
in Japan under the Dynamic Map Task Force Formal participation in OADF as SIP-adus Support for the holding of an OADF joint meeting with
ISO/TC204/WG3 (January 2018), etc.
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Overview of Standardization/International
Cooperation Activities and ISO/TC 204 Activities Thus far, Japan has led standardization activities in ISO/TC204/WG3.
 Beginning this fiscal year, Japan will actively participate in activities
aimed at industry standards.
Sample data of Dynamic map for the FOT
Logical Data Model (22726)
GDF5.1（20524）
Lane-level LR（27572-4）
Vehicle probe data（22837）
NDS
ADASISTISASENSORIS

Logical Data Model Logical Data Model（22726）（22726）Lane-level LR(17572-4)

Logical Data Model（22726）

TISA

Logical Data Model（22726）

Logical Data Model（22726）NDS

TISA

Sample data ofGDF5.1
Dynamic map（20524）
for the FOT

ADASISSENSORIS
Vehicle probe data（22837）
Lane-level LR (17572-4)

Source: Overall diagram
prepared based on
discussions with European
industrial standards
organizations and others at
the SIP-adus Workshop
2017 (currently underdiscussion)

Source:Satoru Nakajo, Dynamic Map, The 12th Japan ITS Promotion Forum presentation
http://en.sip-adus.go.jp/wp/wp-content/uploads/e04̲itsforum2018̲s.pdf (checked on 13th June 2018)

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5. Expectations for GNSS

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Expectations for GNSS World wide usage
 Global procurement is widely used by automotive makers.
 Not only in Asia but also in other regions is needed.
 Not only GNSSs but also set the control points
 Positioning and also the matching with Map DB is very important.
 Connecting lots of data from multiple source is crucial.
 Lots of data shall be delivered with accurate position.
 Crustal movements shall be took into account like Japan.
 25cm movement is equal to the width of a tire.
 Supplemental methods of positioning for NOT GNSS area like a tunnel orunder a double deck
 Long. & Lat. is very useful but difficult to use such as in a tunnel
 Supplemental methods to detect the position are needed.
 Cheap receivers
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Thank yousnakajo@mri.co.jp

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