MOSARIM No.2482312012-12-21PROJECT FINAL REPORT"Publishable summary"Grant Agreement number:248231Project acronym:MOSARIMProject title:MOre Safety for All by Radar Interference MitigationFunding Scheme:FP7-ICT-2009Period covered:from01. 01. 2010to 31. 12. 2012Name of the scientific representative of the project's co-ordinator 1, Title andOrganisation:Dr.-Ing. Martin KunertRobert Bosch GmbHTel: 49 711 811 37468Fax: 49 711 811 509004E-mail: [email protected] website 2 address: www.mosarim.eu1Usually the contact person of the coordinator as specified in Art. 8.1. of the grant agreementThe home page of the website should contain the generic European flag and the FP7 logo which are lem/index en.htm;logoofthe7thFP: http://ec.europa.eu/research/fp7/index en.cfm?pg logos). The area of activity of the project should also bementioned.2File: D.6.1.1.final report final.doc1/21
MOSARIM No.2482314.12012-12-21Final publishable summary reportThis is a comprehensive summary of results, conclusions and the socio-economic impacts ofthe project. The publishable report shall be formatted to be printed as a stand alone paperdocument. This report should address a wide audience, including the general public.Please ensure that it: Is of suitable quality to enable direct publication by the Commission. Is comprehensive, and describes the work carried out to achieve the project'sobjectives; the main results, conclusions and their potential impact and use (includingthe socio-economic impact and the wider societal implications of the project). Pleasemention any target groups such as policy makers or civil society for whom theresearch could be relevant. Includes where appropriate, diagrams or photographs and the project logo,illustrating and promoting the work of the project. Provides the following information:-List of all beneficiaries with the corresponding contact name andassociated coordinates-The address of the public Website of the Project as well as relevantcontact details.File: D.6.1.1.final report final.doc2/21
MOSARIM No.2482312012-12-21Table of contentFinal publishable summary report . 21. Introduction . 42. The project activities . 62.1 Selection of important radar applications andfunctions . 62.2 Definition of relevant scenario definition . 72.3 Market penetration study . 72.4 The radar norm interferer device . 92.5 The radar simulation tool-chain . 102.6 The real world laboratory and road test . 122.7 The countermeasure and mitigation techniques . 122.8 Determination of the interference hotspots . 142.9 Safety level requirements . 153. Guidelines, conclusions and outlook . 174. Acknowledgement . 20File: D.6.1.1.final report final.doc3/21
MOSARIM No.2482312012-12-21The EU-funded research project MOSARIMGeneral overview and description of work carried outAbstract: The European funding project MOSARIM (MOre Safety for All by RadarInterference Mitigation) started in January 2010 with the objective to investigate possibleautomotive radar interference mechanisms by both simulation and real-world road-tests.Appropriate countermeasure and mitigation techniques were investigated and assessed andgeneral guidelines and recommendations developed. With a special norm interferer device thatwas also developed during project runtime the mitigation methods could be analyzed andverified in a reproducible and general manner. Project content and results were disseminated intwo international public workshops and via the MOSARIM public webpage.1. IntroductionThe MOSARIM project with Grant Agreement No. 248231 started officially on January 1st,2010. The project duration is 36 month and the total project budget is 4.820.693 with2.897.173 funding.The MOSARIM project’s main objectives are the investigation of mutual vehicular radarinterference and the definition and elaboration of effective countermeasures and mitigationtechniques. Automotive radar operational frequencies from 24 GHz to 79 GHz are coveredby this project.The concept and overall objectives of the MOSARIM project are:188.8.131.52.5.Assessment on actual radar interference potential and impact with of-the-shelf radarsensors already available on the market.Specification and implementation of a vehicular norm radar interferer.Elaborate comprehensive and realistic simulation models regarding radar interferenceon different levels.Find common applicable interference countermeasures to reduce mutual radarinterference disturbance.Generation of recommendations and guidelines for vehicular mutual radar interferencemitigation.The MOSARIM consortium consists of the following partners (see Figure 1):Figure 1: The MOSARIM consortium with all 12 partnersFile: D.6.1.1.final report final.doc4/21
MOSARIM No.2482312012-12-21The main project activities and some of the important milestones are sketched in Figure 2.Figure 2: The MOSARIM project timingThe MOSARIM project structure consists of six main work packages that are further brokendown into specific project tasks. Each of the tasks is either finished with a deliverable or amilestone, respectively. Most of the delivered documents are public available on theMOSARIM webpage and only reports with sensor-individual, critical information contentwere left confidential. The work package structure is sketched in Figure 3.Figure 3: The MOSARIM project structure (PERT diagram)File: D.6.1.1.final report final.doc5/21
MOSARIM No.2482312012-12-212. The project activitiesWithin the MOSARIM project different topics were addressed with different instruments,mainly simulation tools and real world test campaigns, complemented by studies and scenariodefinitions. While the project was mainly focused on mutual radar interference, i.e. theinterference that occurs among the radars installed on vehicles on the road, in one task alsothe interference from incumbent radar systems, i.e. other non-automotive radars like e.g.police radar, fixed service links or traffic monitoring systems, was addressed. By jointlydeveloping and improving the two main working axes the final project goals and targets couldbe reached. Figure 4 shows the working concept w.r.t. interaction and support between thetwo main research axes.Complex scenarioSimple scenarioModeling and simulationInterference mitigation techniquesInput for validationMutual validationInput for validationInterference mitigation techniquesNorm interfererReal world measurementsRoad scenarioTest chamberComplexroad scenarioFigure 4: The MOSARIM project joint working principle2.1 Selection of important radar applications and functionsThe application range of vehicular radar sensors is solely located in the domain of driverassistant systems. The already existing advanced driver assistance (ADAS) functions aredepicted in Figure 5.Figure 5: The current ADAS portfolioThe MOSARIM consortium selected the following 8 functions as the principal use cases forfurther evaluation in the real world test campaigns and the according simulations:File: D.6.1.1.final report final.doc6/21
MOSARIM No.2482312012-12-21ACC- Adaptive Cruise ControlCWS- Collision Warning SystemThank you for your kind attention !CMS- Collision Mitigation SystemVUD- Vulnerable road User DetectionBSD- Blind Spot DetectionLCA- Lane Change AssistRCA- Rear Cross-traffic AlertBPA- Back-up Parking AssistACC – general set-upBSD – general set-up2.2 Definition of relevant scenario definitionBased on the eight functions as defined in chapter 2.1 a catalogue with the most importantroad scenarios was generated. These scenarios were used to define the operational parametersfor the road test campaigns and the respective simulation runs. Figure 6 shows a few samplestaken out of the scenario catalogue.Figure 6: Some scenarios from the catalogue2.3 Market penetration studyIn the project planning phase it was assumed that the density of radars on the road will play animportant role when calculating the maximum interference power. To verify this effect inTask 1.6 the market penetration of radars over time was studied to get first indications aboutthe possible proliferations of radars in the next years. Based on three available market studiesFile: D.6.1.1.final report final.doc7/21
MOSARIM No.2482312012-12-21from Frost&Sullivan, ABI research and Techno Systems Research overall market penetrationand percentage of newly radar equipped vehicles per year were forecasted until 2020, asshown in Figure 7. It has to be noted that the given numbers are not necessarily in agreementwith the opinion of all the individual project participants.Figure 7: Market penetration forecast of automotive radarsAs by-product from the study, the approximate number of already sold radar and videodevices in 2009 could be retrieved, as shown in Figure 8.Overall summarySold radars in2009:2.390 Mio. pcsworldwideSold videocameras in 2009:1.280 Mio. pcsworldwideSource: Techno Systems Research Co. Ltd. , 2010Figure 8: Automotive radar and video devices sold in 2009 (approximate values)File: D.6.1.1.final report final.doc8/21
MOSARIM No.2482312012-12-212.4 The radar norm interferer deviceBased on a specification of the parameter sets of the commercially used modulation forms,which were compiled at the beginning of the project, two norm interferer prototypes weredeveloped and used in the laboratory and road test campaigns as replacement of the earlierused individual radar interferer devices from the different radar manufacturers.The basic idea to use a universal norm interferer device is to improve reliability andreproducibility of the interference measurements. Different to the case where speciallyprepared of-the-shelf radar sensors are used as interferers, the norm interferer prototype iscapable to emulate all the existing radar sensor transmission waveforms in an exact timelyand frequency-accurate manner. By software means the different modulation forms can beswitched, making a direct comparison of the interference impact from different modulationwaveforms first possible, as no equipment has to be changed and test-setup is untouched.In Figure 9 the concept of the norm interferer prototype and the used frequency bands isshown. In Figure 10 the final prototype and the supported waveforms are presented.Portable, configurable and free running radar signal transmitting device forarbitrary interference and qualifying testsPCNorm InterfererpowerUSB-Bus21.6523.6 24.0526.657681Frequency [GHz]Figure 9: Norm Interferer prototype with operational frequency rangesNorm Interferer devicein operationNorm Interferer devicesupported waveforms21.65 – 26.65 GHzoutput76-81 GHz outputFigure 10: Norm Interferer prototype and modulation waveformsFile: D.6.1.1.final report final.doc9/21
MOSARIM No.2482312012-12-21From the first tests and measurements done with the two Norm Interferer (NI) prototypes, thebenefit and advantages when using these two NIs became obvious. The results are betterreproducible and measurement time is cut down significantly because no change in setup hasto be done when changing from one sensor modulation scheme to another.For qualifying tests according to a radar interference mitigation standard (that is not yetdefined), the NIs can play a major role. Ideas for commercialization will be driven by thecompany InnoSenT, the project partner who has build-up the two prototypes.2.5 The radar simulation tool-chainThe development of a complete simulation tool-chain was the second main pillar of theMOSARIM project besides the practical assessment of radar interference impact andcountermeasure effectiveness.Based on already existing ray-tracing software for communication channel simulation, anautomotive radar radio-location simulation tool with interference effect simulation was furtherdeveloped by the Karlsruhe Institute of Technology (KIT).The coarse system modelling concept is sketched in Figure 11.Victim timedomain signalTXInterferer timedomain signal (s)TXCan be simplified/replaced if modulationscheme interaction behavior is knownSystem ModellingPath informations- Path loss- Time delay- Doppler shift- Angles of incomingand outgoing wavesChannel modellingRay-tracingsimulationScenarioKnown object positions/velocitiesAnalog signal processingADC & raw data processingDetected objectpositions/velocitiesInterference assessment(I/N, S/I, S/(I N), power distribution in FFT)ComparisonDetermination of system performanceFigure 11: System modelling simulation basics and conceptThe complete road scenario with both static and dynamic traffic scenario simulation ismapped into the simulation framework. The radar signal waveforms can be simulated down tothe receiver input stage, where the IF-signals are generated based on the dynamic descriptionof the real road scenario in a kind of storyboard.The to
MOSARIM No.248231 2012-12-21 File: D.6.1.1.final_report_final.doc 8/21 from Frost&Sullivan, ABI research and Techno Systems Research overall market penetration and percentage of newly radar equipped vehicles per year were forecasted until 2020, as shown in Figure 7. It has to be noted that the given numbers are not necessarily in agreement
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