DOI: 10.5281/zenodo.3608090
title: Brainport, Urban driving, car rebalancing, VRU detection, rerouting

description: <strong>Scenario description</strong>: Precondition:<br> - AD Vehicle (3177) is at starting position<br> - VRU with Smartphone (3120) is at end position<br> - VRU with Smartphone (3121) and FlowRadar (3175) is positioned halfway the vehicle track<br> - CEMA device is on route 2 and detecting crowd<br> <br> Initiate Rebalancing phase:<br> 1. Smartphone 3120: send taxi request (send end location to vehicle (lon / lat))<br> Initiate Routing phase:<br> 2. CEMA devices detect crowds on route 1 or route 2 --&gt; dynamically change routes base on CEMA<br> 3. Motion planning: Vehicle uses CEMA detection and call taxi request as input for choosing one of the two routes<br> Initiate Urban Driving phase (incl. VRU detection)<br> 4. Vehicle starts driving<br> 5. Underway VRU (3121) is detected using smartphone and FlowRadar ITS-G5<br> 6. With GeoFenching, vehicle starts slowing down on smartphone<br> 7. With camera detection vehicle brakes when VRU is inline of camera<br> 8. After VRU passes, vehicle continues journey<br> 9. Vehicle arrives at requested end point (at VRU 3120). <strong>Session description</strong>: Rebalancing:<br> - relocate the vehicle on request<br> Urban Driving:<br> - rerouting on crowd estimation (CEMA)<br> - VRU detection with GeoFenching in vehicle (speed reduction) and warning on VRU smartphone <strong>Datasets descriptions</strong>: <strong>AUTOPILOT_BrainPort_UrbanDriving_DriverVehicleInteraction</strong>: Data extracted from the CAN of the vehicle Dataset Description This dataset contains e.g. throttlestatus, clutchstatus, brakestatus, brakeforce, wipersstatus, steeringwheel for the vehicle <strong>AUTOPILOT_BrainPort_UrbanDriving_EAI2Mobile</strong>: Data from the service to the mobile Dataset Description This dataset contains information sent to the mobile about the Estimated Arrival time and position <strong>AUTOPILOT_BrainPort_UrbanDriving_EnvironmentSensorsAbsolute</strong>: Data extracted from the vehicle environment sensors Dataset Description This dataset contains information about detected object, with absolute coordinates <strong>AUTOPILOT_BrainPort_UrbanDriving_EnvironmentSensorsRelative</strong>: Data extracted from the vehicle environment sensors Dataset Description This dataset contains information about detected object, with relative coordinates <strong>AUTOPILOT_BrainPort_UrbanDriving_IOT_CEMA_Message</strong>: Data from the service to the vehicle Dataset Description This dataset contains information from the Crowd Estimation and Mobility Analytics service <strong>AUTOPILOT_BrainPort_UrbanDriving_IOT_FlowRadar_Message</strong>: Data from the vehicle to the service Dataset Description This dataset contains the GPS informaton (speed,position,heading) from the vehicle <strong>AUTOPILOT_BrainPort_UrbanDriving_IotVehicleMessage</strong>: Data sent between all devices, vehicles and services Dataset Description Each sensor data submission is a Message. A Message has an Envelope, a Path, and optionally (but likely) Path Events and optionally Path Media. The envelope bears fundamental information about the individual sender (the vehicle) but not to a level that owner of the vehicle can be identified or different messages can be identified that originate from a single vehicle. <strong>AUTOPILOT_BrainPort_UrbanDriving_IOT_VehicleStatus</strong>: Data sent from the vehicle to the service Dataset Description This dataset contains the current status of the vehicle <strong>AUTOPILOT_BrainPort_UrbanDriving_PositioningSystem</strong>: Data from GPS on the vehicle Dataset Description This dataset contains speed,longitude,latitude,heading from the GPS <strong>AUTOPILOT_BrainPort_UrbanDriving_SmartphoneGPS</strong>: Data sent by the mobile to the service Dataset Description This dataset contains the GPS informaton (speed,position,heading) from the mobile <strong>AUTOPILOT_BrainPort_UrbanDriving_SmartphoneStatus</strong>: Data sent from the mobile to the service Dataset Description This dataset contains the current status of the mobile <strong>AUTOPILOT_BrainPort_UrbanDriving_TaxiRequest</strong>: Data sent from the mobile to the service Dataset Description This dataset contains the requests for a taxi from the mobile phones <strong>AUTOPILOT_BrainPort_UrbanDriving_Vehicle</strong>: Data from the CAN and sensors about the state of the vehicle Dataset Description This dataset contains a.o temperature and battery state of the vehicles <strong>AUTOPILOT_BrainPort_UrbanDriving_VehicleDynamics</strong>: Data from the CAN and sensors about the state of the vehicle Dataset Description This dataset contains a.o accelerations and speedlimit of the vehicle, as observed from the CAN and the external sensors