Future Mobility Applications in the KoMoDnext and ACCorD Digital Test Fields

Authors

L. Kloeker, A. Kloeker, F. Thomsen, L. Eckstein - ika, RWTH Aachen University

Summary

This paper provides insights into the publicly funded research projects KoMoDnext and ACCorD. First, we present the automated driving functional architecture, which is used in-vehicle in the digital test field KoMoDnext. Focus is placed on automated vehicle guidance using high-definition (HD) maps and the integration of infrastructure-to-vehicle (I2V) information. A three-stage planning architecture consisting of route planning, behavior planning and trajectory optimization is used. Since the use of HD maps re-quires highly accurate localization and since the use of GNSS is severely limited in urban environments, the use of a LiDAR Simultaneous-Localization-And-Mapping (SLAM) algorithm (Google Cartographer) is applied. The presentation of the I2V communication architecture focuses on the integration of Signal Phase And Timing Ex-tended Messages (SPATEM) and Map (topology) Extended Messages (MAPEM) indicating the change of states and the spatial positioning of the traffic light signal systems. We then present the recently completed ACCorD digital test field and specifically address the potential mobility applications that can be implemented with it. The use of the digital test field can take place both online in real traffic and in offline applications. Those can consist of database- or simulation-based applications. Traffic behavior can be analyzed extensively and onboard sensors of test vehicles and their automated driving functions can be validated.