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The vision of cooperative, connected and automated mobility (CCAM) across Europe can only be realized when harmonized solutions that support cross-border traffic exist. The possibility of providing CCAM services along different countries when vehicles drive across various national borders has a huge innovative business potential. However, the seamless provision of connectivity and the uninterrupted delivery of services along borders also poses interesting technical challenges. The situation is particularly innovative given the multi-country, multi-operator, multi-telco-vendor, and multi-car-manufacturer scenario of any cross-border layout. This paper introduces the challenges associated to a cross-border deployment of communication technologies through the analysis of three use cases: tele-operated driving, high-definition map generation and distribution for autonomous vehicles, and anticipated cooperative collision avoidance. Furthermore, a set of 5G solutions have been identified to ensure that CCAM services can be supported efficiently in cross-border scenarios. Faster handover of a data connection from one operator to another, generalized inter-mobile edge computing (MEC) coordination, and quality of service (QoS) prediction are some of the solutions that have been introduced to reduce the uncertainties of a real 5G cross-border deployment.

The SAE AutoDrive Challenge is a three-year competition to develop a Level 4 autonomous vehicle by 2020. The first set of challenges were held in April of 2018 in Yuma, Arizona. Our team (aUToronto/Zeus) placed first. In this paper, we describe our complete system architecture and specialized algorithms that enabled us to win. We show that it is possible to develop a vehicle with basic autonomy features in just six months relying on simple, robust algorithms. We do not make use of a prior map. Instead, we have developed a multisensor visual localization solution. All of our algorithms run in real-time using CPUs only. We also highlight the closed-loop performance of our system in detail in several experiments.

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Driving directionFig. 1: A teleoperated autoTAXI vehicle maneuvering around an improvised construction site C on a test track in Aldenhoven, Germany. The vehicle tracks the trajectory defined by the remote operator (path visualized in blue) from the start position A to the goal position B , effectively solving the AV disengagement scenario. Yellow circles ( ) depict approximate path waypoints specified by a remote operator using the presented teleoperation system.

Cooperative, connected and automated mobility (CCAM) across Europe requires harmonized solutions to support cross-border seamless operation. The possibility of providing CCAM services across European countries has an enormous innovative business potential. However, the seamless provision of connectivity and the uninterrupted delivery of real-time services pose technical challenges which 5G technologies aim to solve. The situation is particularly challenging given the multi-country, multi-operator, multi-telco-vendor, multi-car-manufacturer and cross-network-generation scenario of any cross-border scenario. Motivated by this, the 5GCroCo project, with a total budget of 17 million Euro and partially funded by the European Commission, aims at validating 5G technologies in the Metz-Merzig-Luxembourg cross-border 5G corridor considering the borders between France, Germany and Luxembourg. The activities of 5GCroCo are organized around three use cases: (1) Tele-operated Driving, (2) high-definition map generation and distribution for automated vehicles and (3) Anticipated Cooperative Collision Avoidance (ACCA). The results of the project help contribute to a true European transnational CCAM. This paper describes the overall objectives of the project, motivated by the discussed challenges of cross-border operation, the use cases along with their requirements, the technical 5G features that will be validated and provides a description of the planned trials within 5GCroCo together with some initial results.

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