Cooperative & Highly Automated Convoy Driving

The predecessor project TAFinA was implemented from theory to practice in several steps. First, a theoretical foundation was formed, followed by the design of the first basic test cases. These were run in a simulator setup together with Bundeswehr drivers (Figure 4) for the first time. Simultaneously, the test cases were also tested with the help of robotic platforms. A list of variables, such as weather and road conditions, different roles, and evaluation criteria, was developed to create a test case catalog. The developed test cases were described and worked out graphically (Figure 5).

To take the first step into reality, two robotics platforms were purchased, which can be used to display the test cases on a small scale (Figure 6). This allows for the identification of environmental influences and technical challenges, such as the quality and stability of radio communication among the vehicles in the respective test cases.

The EKOHOK project builds on these foundations and develops them further. The created test cases are intended not only to verify individual automation systems but also to compare different autonomy kits. However, a single test case, e.g. starting the convoy, represents a brief segment compared to an actual convoy journey. In order to achieve as natural a sequence of tests as possible, it therefore makes sense to combine several test cases into a test scheme (see Figure 2). By combining several test cases, the verification of the systems becomes more efficient and better reflects the reality of a convoy drive. 

The theory of the test cases and test schemes was followed by the transition into practice by applying them in real tests. Three test schemes were applied to a convoy of two Bundeswehr vehicles equipped with the InterRoC system. The study took place in cooperation with U6.2 of the "Federal Office of Bundeswehr Equipment, Information Technology and In-Service Support" (BAAINBw), Rheinmetall Landsysteme (RLS) and the "Motor Vehicles Center of the German Armed Forces" (ZKFwBw) on the Bundeswehr grounds in Bad Fallingbostel. The schemes were tested over a distance of approximately 5 km and were repeatedly driven for comparison purposes with Bundeswehr soldiers in manual mode, as well as with activated automation. The drives were recorded using various sensors to identify anomalies in the behavior of the driving system. The data collection focused on several cameras that documented the behavior of the automation system externally and the actions of the participants in the cabin.

Regarding the use of the test schemes, the conclusion was positive. The combination of test cases established good comparability and reproducibility while maintaining a high degree of realism. The results of the interviews indicate that existing technical issues with the system made task execution more difficult. Suggestions for changes to the user interface were made by the participants.

Based on the results of the analysis of the user interface, the interface was redesigned, implemented and then examined in terms of user-friendliness and operability using simulation. For this purpose, a new simulation was developed in another expansion stage and combined with a motion platform to investigate the influence of driving dynamics on various tasks involved in leading or monitoring such a convoy (see Figure 8). For example, the operability of the user interface can be evaluated while driving. Testing was conducted with soldiers from the logistics and supply battalions of the Bundeswehr. The newly developed interface was also evaluated using a real setup with two UGVs to demonstrate the potential of the interface and a test case catalog for further applications, such as automated driving functions in combat systems or in automated unmanned platforms that follow the dismounted soldier or are monitored from a distance.

The use of driving automation in a military context is not limited to a highly automated logistics convoy for standard supplies. Moreover, there are numerous other potential applications. The test case catalog developed in these projects can serve as a foundation to examine additional use cases. At the same time, the developed test case catalog can also be expanded to include environmental and technical factors at increasing levels of complexity. For example, the influence of different road surfaces and conditions on driving automation systems can be evaluated.

This detailed evaluation of test cases can take place in a combination of digital, digital-real, and real tests, due to the methods and equipment developed within the projects. All test cases can be executed in the simulator built at FKIE to capture initial measurements regarding the safety perception of the safety drivers, while simultaneously being recreated with robotic platforms to identify initial technical challenges, for example. With such a multimodal and flexible approach, the necessary measurements and evaluation criteria, such as safety distance or expected braking behavior, can be further developed in collaboration with experienced Bundeswehr drivers.

The significance of the central control device as an important component of the automation system, both for the convoy operator and for the safety drivers, became evident during the projects. Based on the initial redesign and the results of the tests, the development of an interaction concept or user interface concept created specifically for the requirements of the Bundeswehr can be advanced. Thus, a new interaction concept can be integrated into the simulation and evaluated in various scenarios with military vehicle operators and certifiers. Especially with highly automated driving functions, there are still several unanswered research questions regarding controllability and certification, which can, however, be addressed using the described methods and setups. 

Project period

2023-2024

Project partner

Federal Office of Bundeswehr Equipment, Information Technology and In-Service Support (BAAINBw)