D 1 . 11 Summary of the PRoPART projectThe objective of the project ‘PRoPART’ is the development and demonstration of a high availability positioning solution for connected automated driving applications. It aims to develop and enhance an existing RTK (Real Time Kinematic) software solution developed by Waysure by exploiting the distinguished features of Galileo signals as well as combining it with other positioning and sensor technologies. Also, the possibility to authenticate the navigation message of Galileo and other navigation satellite systems through Open Service – Navigation Message Authentication (OS-NMA), adding resistance to certain spoofing attacks, will be explored during the project. Besides the use of vehicle on board sensors, PRoPART will also use a low-cost Ultra-Wideband (UWB) ranging solution for redundancy and robustness in areas where the coverage of GNSS is poor (e.g. in tunnels or in urban canyons). In order to define the correct requirements for the PRoPART combined positioning solution, a cooperative automated vehicle application will be defined and developed. The vehicle application will rely on the high availability positioning solution and use it to couple its ADAS system with V2X and aggregate information received from other connected vehicles and Road Side Units (RSU). As there will be a transition period where a lot of vehicles are neither connected nor automated, solutions having high impact during low penetration are in focus. Therefore, PRoPART will implement an RSU with high-precision positioning and use both UWB as well as traffic monitoring to supply ranging, object perception and EGNSS RTK correction data via ETSI ITS-G5 to the connected automated vehicle so it can make safe decisions based on robust data. This means that PRoPART also will implement perception layer sensor fusion that uses information collected from external sensors as well as information from both the on-board vehicle sensors and the high availability positioning solution. PRoPART will also exploit possibilities to distribute EGNSS RTK correction data from the RSU to the vehicle. The main objectives and their related impacts can be summarized as follows: Precise positioning with EGNSS:o Deeply Coupled RTK Positioning using the Galileo E1 and E5 signals for carrier based positioning as well as the GPS L1, L2 and L5 signals.o Increased robustness with EGNSS using E1 and E5 signalso Performance indicators: Initialization and re-initialization time, vehicle position, velocity and attitude accuracy in specific use case environments. High Availability and Robust Positioning:o Combining EGNSS RTK positioning with UWB ranging and vehicle motion sensors providing deeply coupled feedbacko EGNSS RTK correction data from RSUo RSU with traffic monitoring capabilities. The project aims to achieve objects detected by an RSU to be aggregated by an automated vehicle (ECU) with an overall latency of less than 150 ms and combined location error below 2m.o Performance indicators: Availability of accurate, robust position estimate in specific use case environments. Cooperative Automated Vehicle Application:o Increased cooperation between automated and non-automated vehicles.o Safer decisions for traffic manoeuvreso More cost efficient high precision positioningWithin this project, these ambitious goals will be demonstrated for a collaborative automated lane change function using the AstaZero proving ground. An expressed goal of the project is the progression on the technology readiness level (TRL) scale of user function specific components for use in automated driving (AD) applications. While the maturity of such subsystems has a direct impact on automated driving systems (ADS) and will represent important steps towards commercialization, the automated driving system itself is not a target for such TRL progression. The ADS to be used in the demonstrations will be somewhere between partial automation and conditional automation, or level 2 and 3, on the SAE scale of road vehicle automation.