2024年北京自动驾驶示范报告.pdf

Beijings Initiatives on Autonomous Driving industry in the Era of Interconnection of EverythingBeijing High-level Autonomous Driving Demonstration Zone Work Office Informal document GRVA-18-28*18thGRVA,22-26 January 2024Agenda item 11Background|Interconnection of Everything2Interconnections of Multiple Urban ElementsInfrastructureCloudVehiclePeopleBJHAD|Establish City-level Engineering Test Platform C i t yC i t y-l e v e ll e v e lE E n g i n e e r i n g n g i n e e r i n g P l a t f o r mP l a t f o r mSmart VehicleSupport R&D and industrialization of key technologiesHelp low-cost vehicles achieve high-level autonomous drivingHigh-precision mapHigh-precision positioningPrecise MapChinas first map application pilotExplore the dynamic updates of high-precision mapsReal-time CloudEdge cloud,central cloudBuild a cloud platformunified data baseRadarHD cameraEdge computing unitRoadside poleIntelligent RoadroadDefine the intelligent connection standard intersection schemeReuse functional roadside sensing facilitiesReliable NetworkLow latency,high reliability,extremely stable network support3In September 2020,Beijing decided to build High-level Autonomous Driving Demonstration ZoneBJHAD|A Standard Intelligent&Connected Intersections4Multi-Cabinet IntegrationAnnunciatorIntegrated Management And ControlRoadside Edge ComputingExchange SwitchConnected Power SystemReverse LowLatency CameraCheckpoint CameraNetworkAntennaMulti-Perception IntegrationFisheye CameraMulti-Pole IntegrationMWRNetworkStation边缘计算单元Mobile Edge Computing(MEC)5Autonomous Trunk60 kilometers intersections constructionLast Mile DeliveryUnmanned Retail VehiclesUp to now,more than 600 vehicles have been deployed in the Demonstration Zone,road test licenses have been issued to 811 vehicles from 28 companiesBJHAD|Application AchievementsBJHAD|Empowerment Multiple Fields6Application of Massive Traffic DataTransportation GuideTraffic Signal OptimizationCollaborative PerceptionCooperative ControlCollaborative Decision MakingIntelligent Connected Vehicle(ICV)Transportation GuideTraffic Signal OptimizationIntelligent Transportation System(ITS)01ITSEmpowering Intelligent Transportation8ITS|Empowering Intelligent Transportation ServicesTraffic signal Timing Optimization Platform Road Side Sensing EquipmentIntersection ClassificationDispatch Strategy Basic Traffic Timing Plans边缘计算IntersectionIntersection Timing PlansMonthAverage vehicle delay（seconds）Average Vehicle speed(km/h)Number of Trips(million per day）2023.129.4619.1633.582023.228.9123.6836.292023.328.1125.4636.602023.421.4729.2537.482023.520.5829.3137.512023.620.4828.7437.34A decrease of 30.48%15251/12/13/14/15/16/1AVERAGE VEHICLE DELAY（SECOND）3035401/12/13/14/15/16/1NUMBER OF TRIPS（MILLION PER DAY）An increase of 11.20%Statistical Period：7:30-19:00 on weekdaysGreen waveSingle-point adaptive Real-time OperationTraffic Jam diagnosisIntersection MonitoringCCameraCRadarCMECCDigital PoliceCheckpointCNetworkTrafficOccupiedRateSpeedQueueTravelerInfo.02ICVSupporting Intelligent&Connected Vehicles10Insufficient SecurityLack of EfficiencyHigh CostEnterpriseA:ADsystemcosts over RMB 200,000.EnterpriseB:ADsystemcosts over RMB 300,000.The integrated vehicle-road-cloud system transferscomputing power from vehicleto roadside,achieving publicreutilization of equipment and systems,and thereforereducing overall cost.Lack of comprehensive planning capabilities fortransportation systems.Lack of macro decision-making ability for complex and extreme road conditions resulting in traffic congestion.Solid state lidars X4Blind compensation lidars X2Long-range millimeter Wave RadarsX3CamerasX11Solid state lidarsX7CamerasX12Perception modulesX6Ultra-long-range visionSudden appearance of pedestrians from blind spotsBlocked traffic lightsInclement weatherComplicated illuminationTraffic violationsComplex traffic sceneHarsh roadRoad conditionsAmbient conditionsOther conditionsRoad debris Lack of sensing capabilityin specific conditions Lack of sensing capabilityinextreme weatherICV|Ongoing Challenges of High Level Autonomous Vehicles11ICV|Beijings Solutions to the ChallengesThe ODD is severely fragmented,insufficient to meet the requirements of full-range autonomous driving.The consequences of the above-mentioned issue:Unsafe operation of autonomous vehicles,or fragmented Operational Design Domain(ODD).The core goal of the integrated vehicle-road-cloud system is safetyTo help transfer autonomous driving scenarios of the unknown to the known,the unsafe to the safe.Beijing has proposed the solution of an integrated vehicle-road-cloud system to address these challenges.Fragmentation vs.ContinuityGraphs Sources:Institute for AI Industry Research of Tsinghua University,Apollo Intelligent Connectivity(Beijing)Technology Co.,Ltd,.A unified framework for vehicle-infrastructure-cloud autonomous driving.J Automotive Safety and Energy,Vol.14 No.3,2023StartDestinationAll RegionsAll External Environment&Dynamic EntitiesFirst 1 KmUrban RoadsHighwayUrban RoadsLast 1 KmODDRangeManual TakeoverAV ModeIndoor ParkingSignal-Controlled IntersectionMixed-Use RoadLong TunnelLow VisibilityConstruction ZoneLack of High-Precision Map CoverageUnsafeSafeUnknownKnownKnown Safe AreaKnown Unsafe AreaUnknown Unsafe AreaUnknown Safe AreaUnsafeSafeKnownUnknownICV|AV ServicesTraffic light signal updates 27,169 times/week.V2X communication 8,736 times/week12Vehicle-Road-Cloud Integration Cloud PlatformDelivering Roadside Perception and Traffic Light Countdown Information Services 700 Million TimesDaily Generation of 60,000Roadside and Cloud Control Platform Events03Data ValueExploring the application of massive traffic dataData Value|Worlds First Open DAIR-V2X Dataset for ICVTraffic ManagementUrban Management Perception ApplicationDecision PlanningVehicle-Road CoordinationTraffic Information ServicesPublic ServicesGovernment ServicesBusiness ServicesData ScaleTotal VolumeDaily IncrementCumulative Total4.8PB304.5TBStructured602.5TB2.5TBUnstructured4.2PB302TBSupporting Algorithm TrainingSingle-Camera 3D Object DetectionMulti-Modal Fusion PerceptionPoint Cloud 3D Object DetectionVehicle-Road Cooperative Perception 200+units 2,000+domestic registered users nearly 30,000cumulative downloads 9research results published in top AI conferences 3 algorithmic challenges contests.Industry InfluenceComprehensive SchemeIn-Vehicle Perception EquipmentRoadside Perception EquipmentTraffic,Mapping,and Other PlatformsRaw Images,Point Clouds,etc.Perception DataTraffic,Mapping Data,etc.Supportive DataCollaborative AnnotationSpatio-Temporal SynchronizationDe-Identification and EncryptionProcessed Perception DataEducational Institutions,Research OrganizationsEnterprisesOther Platforms1404Application AchievementsInnovation Policies,Regional Expansion and Key Scenarios In April 2021,Beijing approved the establishment of the Beijing Intelligent&Connected Vehicle Policy Pilot ZoneCoverage:225 square kilometers of planning area in E-Town and also Beijing Daxing AirportExpressways:Six expressways sections with a total length of about 143 kilometers16Achievement|Development of the Policy Pilot ZoneNewModes01 To promote the unmanned technical verification of AV02 To conduct road tests of AV on expressways03 To publicize AV codes and to allow autonomous retail and delivery vehicles on the road04 To trial road tests of autonomous cleaning vehicles05 To support short-range operation of Robobus06 To trial commercial operation of AV07 To support mutual recognition of remote road test results and test exemptionsAdvanced TechnologiesNewProducts17Our Commitment for the FutureDaxing International AirportChaoyang StationPhase 3.0 of Zone Expansion in BJHAD LegendAirport and StationNew Expansion AreaExisting AreaKey Connection LinesAutonomous Driving Services to Every Corner of BeijingIn the future,the demonstration zone,building upon the existing160,will further expand to cover more of Beijing,reaching a total of 600.Capital International AirportBeijing South Railway StationSub-center StationFengtai StationQinghe Station18In Nov 2021,the Ministry of Industry and Information Technology(MIIT)issued the14th Five-Year Plan for the Development of the Information and Communication Industry.”In Feb 2020,the National Development and Reform Commission and 11 other ministries issued the“Innovative Development Strategy of Intelligent Vehicles.”In 2017,the Special Committee for the Development of the Connected Vehicle Industry was established.It consists of 20 departments and units,including the Ministry of Industry and Information Technology,the National Development and Reform Commission,the Ministry of Science and Technology,the Ministry of Finance,the Ministry of Public Security,and the Ministry of Transport.This committee is responsible for organizing the formulation of development plans,policies,and measures for the connected vehicle industry and coordinating its development.In Dec 2018,the Ministry of Industry and Information Technology(MIIT)issued the“Action Plan for the Development of the Connected Vehicle(Intelligent Connected Vehicle)Industry,”which established the intelligent connected vehicle program based on C-V2X for integrated vehicle-road-cloud systems.In Jan 2024,the Ministry of Industry and Information Technology and five other ministries jointly organized a pilot project for the application of integrated vehicle-road-cloud systems in intelligent connected vehicles.This initiative aims to facilitate the implementation of city-level demonstrations.Proposing a national top-level strategyEstablishing Interdepartmental Collaboration MechanismsClarifying the technology roadmapOrganizing demonstrations Guided by national strategies,China firmly adopts the integrated Vehicle-Road-Cloud technology.Background|Chinas Choice19Jilin,ChangchunNational Intelligent Connected Vehicle Application(Northern)Demonstration ZoneShanghaiNational Intelligent Connected Vehicle(Shanghai)Pilot Demonstration ZoneBeijing,Hebei,BaodingNational Intelligent Automobile and Smart Transportation(Beijing-Hebei)Demonstration ZoneBeijing High-Level Autonomous Driving Demonstration zoneZhejiang,Tongxiang,HangzhouZhejiang 5G Connected Vehicle Application Demonstration ZoneHubeiNational Intelligent Connected Vehicle(Wuhan)Testing Demonstration ZoneChongqingNational Intelligent Automobile and Smart Transportation Application Demonstration Public Service PlatformSichuan,ChengduChina-Germany Collaboration Intelligent Connected Vehicle Telematics Sichuan Test BaseHainan,QionghaiNational Intelligent Connected Vehicle Closed Test FacilityHunan,ChangshaNational Intelligent Connected Vehicle(Changsha)Testing ZoneAs of the end of 2023,there have been 17 national-level test demonstration zones established in ChinaMore than 22,000 km of test roads have been opened,over 5,200 testing licenses have been issued,and the total testing mileage has exceeded 88 million km.116 Dual Intelligent pilot cities*：Beijing,Shanghai,Guangzhou,Wuhan,Changsha,Wuxi,Chongqing,Shenzhen,Xiamen,Nanjing,Jinan,Chengdu,Hefei,Cangzhou,Wuhu,ZiboNational-level Connected Vehicle(C-V2X)Pilot Areas Jiangsu(Wuxi)C-V2X Pilot AreaTianjin(Xiqing)C-V2X Pilot AreaHunan(Changsha)C-V2X Pilot AreaChongqing(Liangjiang)C-V2X Pilot AreaHubei(Xiangyang)C-V2X Pilot AreaZhejiang(Deqing)C-V2X Pilot AreaGuangxi(Liuzhou)C-V2X Pilot Area234675Background|China Exploration*Dual Intelligent pilot cities：the Pilot Work of Smart City Infrastructure and Intelligent Connected Vehicles Organized by the Ministry of Housing and Urban-Rural Development and the Ministry of Industry and Information Technology.