Principle of functional domain expansion of highly automated vehicles

Introduction (problem statement and relevance). For highly automated vehicles, the possibilities of driving on public roads are limited, for example, by legislative acts such as resolutions of the Government of the Russian Federation “On establishment of the experimental legal regime in the digital innovation area and approval of the Program of the experimental legal regime in the digital innovation area on operation of highly automated motor vehicles”. The territorial restrictions are connected not only with legal framework but also with technical difficulties involving, inter alia, high labour inputs required to create such maps, maintain their relevance in terms of big cities, regions, the country, and also in the large amount of memory they occupy.

The purpose of the study is to form a method of organization of a highly automated vehicles control system (with high level of automation applying high-precision digital maps) to enable such vehicles to be (continuously) driven on roads with and without high-precision maps.

Methodology and research methods. The paper presents an analytical study of distinctions between the electronic advanced driver assistance systems and highly automated vehicle control systems in terms of their application on the roads for various purposes, prospects for their further development, and also proposes an approach to implementation of control systems applicable on a wide range of road sections.

Scientific novelty and results. A method of organization of a highly automated vehicle control system has been formed, which allows continuous driving of such vehicles not only on the road sections for which high-precision digital maps are built but also on the ones which have no such maps, by switching control modes, taking into account the necessity to implement the possibility of transition to the minimum risk condition. Thus, there is automatic switching of the automated vehicle from one operational design domain to another.

Practical significance. The results of the study can be applied for development of automatic control systems for highly automated vehicles, including driverless vehicles.

1. [GOST R 70720-2023. Electronic systems for wheeled vehicles, tractors and other mobile machinery. Terms and definitions]. Moscow, Rossiyskiy institut standartizatsii Publ., 2023. 23 p. (In Russian)

2. [GOST R 58823-2020. Road vehicles. Systems of autonomous driving. Classification and definitions]. Moscow, Standartinform Publ., 2020. 40 p. (In Russian)

3. [GOST R 58837-2020. Motor vehicles. Automated control systems. General principles for design]. Moscow, Standartinform Publ., 2020. 20 p. (In Russian)

4. [GOST R 70249-2022. Artificial intelligence systems in road transport. Highly automated vehicles. Terms and definitions]. Moscow, Rossiyskiy institut standartizatsii Publ., 2022. 16 p. (In Russian)

5. SAE J3016. Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles.

6. [GOST R 70982-2023. Artificial intelligence systems in road transport. Vehicle traffic control systems. Requirements for V2X-interaction structure and architecture]. Moscow, Standartinform Publ., 2023. 16 p. (In Russian)

7. [PNST 824-2023. Intelligent transport systems. Dynamic digital road traffic map. The architecture of the dynamic digital road traffic map for the movement of highly automated vehicles]. Moscow, 2024. 24 p. (In Russian)

8. [PNST 825-2023. Intelligent transport systems. Dynamic digital road traffic map. Accuracy of data for formation of dynamic digital road traffic map for the movement of highly automated vehicles]. Moscow, 2024. 24 p. (In Russian)

9. PAS 1883:2020. Operational Design Domain (ODD) taxonomy for an automated driving system (ADS) – Specification. London, BSI Publ., 2020. 26 p.

10. [The driverless city minibus “ShATL” was presented at NAMI]. Available at: https://nami.ru/news/unmanned-city-mini-bus-shuttle-was-provided-to-us (accessed 14 February 2025). (In Russian)

11. Nikitina E.N., Epifanov V.V. [An analysis of the development of autonomous buses and taxis worldwide]. Vestnik Ul’yanovskogo gosudarstvennogo tekhnicheskogo universiteta, 2020, no. 4, pp. 63–67. EDN: HHYKQJ. (In Russian)

12. [Autonomous logistics “Evocargo”]. Available at: https://ru.evocargo.com (accessed 14 February 2025). (In Russian)

13. Case study: Li-ion battery automated guided vehicles. Available at: https://www.konecranes.com/sites/default/files/download/kcn-casestudy-li-io-agv-hhla-web.pdf (accessed 14 February 2025).

14. [Technical Regulations of the Customs Union “On the safety of wheeled vehicles” (TR CU 018/2011)]. (In Russian)

15. [Technical Regulations of the Customs Union “On the safety of machinery and equipment” (TR CU 010/2011)]. (In Russian)

16. Debelov V. V., Endachev D.V., Evgrafov V.V., Bakhmutov S.V. [Ways to implement vehicle driving mode control systems based on the development of autonomous driving technology]. [Safety of wheeled vehicles under operating conditions: Proceedings of the 99th International Scientific and Technical Conference]. Irkutsk, Irkutskiy natsional’nyy issledovatel’skiy tekhnicheskiy universitet Publ., 2017, pp. 504–512. EDN: ZFNVAZ. (In Russian)

17. Bakhmutov S.V., Saykin A.M., Endachev D.V., Evgrafov V.V., Shagurin A.L., Kulikov I.A., Fedoseev K.A. [Prospects for the development of ground-based unmanned cargo vehicles]. [Intelligent transport systems: collection of works of the International automobile scientific forum IASF-2017]. Moscow, FSUE “NAMI” Publ., 2017, pp. 61–73. EDN: YNGJPE. (In Russian)

18. Saykin A.M., Endachev D.V., Evgrafov V.V., Shagurin A.L., Maslov K.V., Novozhilov A.A. [Criteria fundamentals of unmanned transport vehicles evaluation]. Trudy NAMI, 2017, no. 2 (269), pp. 48–54. EDN: ZCSPAJ. (In Russian)

19. Mukhortov M.V., Evgrafov V.V. [Road marking recognition in driver assistance systems and autonomous vehicles]. [Technologies and components of intelligent transport systems: сollection of works of the International automobile scientific forum IASF-2018.]. Moscow, FSUE “NAMI” Publ., 2018, pp. 480–490. EDN: YSKXIT. (In Russian)

20. Saikin A.M., Evgrafov V.V., Shagurin A.L., Maslov K.V., Novozhilov A.A. Issues and possible approaches to development of intelligent transport systems for the arctic zone of Russia. International Journal of Civil Engineering and Technology, 2018, vol. 9, no. 9, pp. 2046–2055. EDN: YUZADB.

21. Bakhmutov S., Saykin A., Endachev D., Evgrafov V., Shagurin A., Kulikov I., Fedoseev K. Prospects of development of land driverless trucks. IOP conference series: Materials science and engineering. International automobile scientific forum, IASF 2017 “Intelligent Transport Systems”, 2018, p. 012001. EDN: XYEOCL.

22. Endachev D.V., Bakhmutov S.V., Evgrafov V.V., Mezentsev N.P. [Electronic systems of intelligent vehicles]. Mechanics of Machines, Mechanisms and Materials, 2020, no. 4 (53), pp. 5–10. EDN: IGEFKA. (In Russian)

23. Buznikov S.E., Evgrafov V.V., Saykin A.M. Structuring tasks of control over driverless vehicles within intelligent transport systems. Journal of Physics: Conference Series. “International Conference on Actual Issues of Mechanical Engineering, AIME 2021”, 2021, p. 012093. EDN: TDOPWF.

24. Endachev D.V., Bakhmutov S.V., Evgrafov V.V., Mezentsev N.P., Ryazantsev V.A., Khorychev A.A., Yusupov D.T. Implementation of modern approaches to development and testing of advanced driver assistance systems, including driverless systems. Journal of Physics: Conference Series. “International Conference on Actual Issues of Mechanical Engineering, AIME 2021”, 2021, pp. 012121. EDN: OONMZB.

25. [Yandex unveiled a new generation of maps for drivers.]. Available at: https://yandex.ru/company/news/02-26-10-2023 (accessed 14 February 2025). (In Russian)