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11CAMP – Vehicle Safety Communications 2 Consortium proprietaryCAMP – Vehicle Safety Communications 2 Consortium proprietary
CICAS-V Project UpdateCICAS-V Project UpdateJune 5, 2007June 5, 2007
Michael MaileMichael Maile
Vehicle Safety Communications 2 ConsortiumCAMP
Intelligent Transportation Systems
22 CAMP – Vehicle Safety Communications 2 Consortium proprietaryCAMP – Vehicle Safety Communications 2 Consortium proprietary
Project Overview
• CICAS-V is a 4 year project to develop Cooperative CICAS-V is a 4 year project to develop Cooperative Intersection Collision Avoidance Systems thatIntersection Collision Avoidance Systems that Prevent crashes between vehicles due to violations of traffic Prevent crashes between vehicles due to violations of traffic
signals signals Prevent crashes between vehicles due to violations of stop signsPrevent crashes between vehicles due to violations of stop signs
• This crash prevention applies to all types of crossing path This crash prevention applies to all types of crossing path crashes that have their origin in violations, such as SCP, crashes that have their origin in violations, such as SCP, LTAP, etc. LTAP, etc.
• CICAS-V uses 5.9 GHz DSRC for the communication CICAS-V uses 5.9 GHz DSRC for the communication between intersection and vehiclebetween intersection and vehicle
33 CAMP – Vehicle Safety Communications 2 Consortium proprietaryCAMP – Vehicle Safety Communications 2 Consortium proprietary
Project timeline
SystemsEngineering
PrototypeDevelopment
PrototypeBuild
HumanFactors
Initial Conops,Requirements, Architecture
Refinement of Conops, Requirements,Architecture
Nov 1, 2006Conops Workshop
May06
Aug06
Nov06
Feb07
May07
Aug07
Nov07
Feb08
May08
Final Conops,Requirements,
Architecture
PDRCDR
Intersection Selection and build
Application build, testing and refinement
FOT Prototype system build
System Tests
Refinement
Intersections in MI and CA
Intersection approach data collection
100 Car DB analysisDriver Vehicle Interface Testtrack tests
Pilot FOT
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Major Project Participants
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On Board Equipment (OBE)
Traffic Signal Violation warning
No Dedicated turn signals
No Dedicated turn signals
Left turn and through signals
Left turn and through signals
X
Lane Centerline
Intersection Location X
X
X
X
X
Stopping Location X
Intersection ID: 23983
1 2
3
4
5
6 7
10
9
8
Lane ID 5
Traffic signal informationLane 1 Status red 4 secLane 2 Status red 4 secLane 3 Status green
Positioning Correction
Warning
Intersection TrafficControl Device
DSRC radio
Processor
GPS GID storage
Road Side Equipment
(RSE)
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Project status
• Development of a Transport Object Message framework Development of a Transport Object Message framework that unifies the message structure for all the CICAS that unifies the message structure for all the CICAS messagesmessages
• Development of the Message SetsDevelopment of the Message Sets• Development of drafts of Concept of Operations, Development of drafts of Concept of Operations,
Functional Requirements, System Requirements, System Functional Requirements, System Requirements, System Architecture and Performance SpecificationsArchitecture and Performance Specifications
• Installation of CICAS-V equipped intersections in Installation of CICAS-V equipped intersections in California and Michigan California and Michigan
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Project Status, cont.
• Development of positioning correction, lane Development of positioning correction, lane matching algorithm and warning algorithmmatching algorithm and warning algorithm
• Mining of VTTI 100 Car Database for causal Mining of VTTI 100 Car Database for causal factors for violationsfactors for violations
• Investigation of several driver-vehicle interfacesInvestigation of several driver-vehicle interfaces• Collection of naturalistic intersection approach Collection of naturalistic intersection approach
data for stop sign and traffic signal controlled data for stop sign and traffic signal controlled intersections using radarintersections using radar
88 CAMP – Vehicle Safety Communications 2 Consortium proprietaryCAMP – Vehicle Safety Communications 2 Consortium proprietary
Project Status, cont.
• Development of in-vehicle Data Acquisition Development of in-vehicle Data Acquisition SystemSystem
• Start of developing the final CICAS-V prototype Start of developing the final CICAS-V prototype together with DENSOtogether with DENSO
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Intersection installation in California
• The first CICAS-V equipped intersection was set The first CICAS-V equipped intersection was set up in cooperation with Caltrans and UC Berkeley up in cooperation with Caltrans and UC Berkeley PATHPATH
• The intersection went live in mid February and The intersection went live in mid February and has been working uninterruptedly since thenhas been working uninterruptedly since then
• Intersection is located at 5Intersection is located at 5 thth Ave and El Camino Ave and El Camino Real in Atherton in the San Francisco Bay AreaReal in Atherton in the San Francisco Bay Area
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Fifth and El Camino detail
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CA intersection pictures
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2070
LMR-400
6 dBi DSRC
antenna
Antenna mount
Cable straps
SerialFiber pair
Controller Cabinet
DGPS antenna
NEMA
Eth
3G
DigiRouter modem
Fiber pair Eth
Backhaul
F2EF2E
Eth
Inverted WiFi
Eth
Serial
DGPSMCNU
110VAC12VDC PS 340W
12VDC terminal block
E2F
E2F S2E
Schematic of intersection build
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Intersection installation in Michigan
• The CICAS-V intersection in Michigan (Orchard The CICAS-V intersection in Michigan (Orchard Lake and 10 Mile Rd) was set up in cooperation Lake and 10 Mile Rd) was set up in cooperation with the Road Commission of Oakland County with the Road Commission of Oakland County (RCOC) in April 2007(RCOC) in April 2007
• The intersection sends out the identical message The intersection sends out the identical message sets to the one in CA but uses a different sets to the one in CA but uses a different controller and protocol. controller and protocol.
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Intersection in Michigan
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Intersection Setup in Michigan
CICAS Cabinet with RSE and GPS
GPS and DSRC Antenna Mounting
CICAS-V Intersection Setup
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Installing at 10 Mile and Orchard Lake intersection in Farmington (Michigan)
Michigan Intersection
MCNUEagle EPAC 3108 M52
UDP Ethernet (10Mbps)
X-over cable
12V 30APower Supply
GFCI
110VAC CircuitProtection
NovatelGPS
RCOC Cabinet(no access)
CICAS-V Cabinet
GarminGPS
RS232RS232
DSRC 802.11aGPSGPS
GFCI
CircuitProtection
12VPower Supply
*all antennas mounted on ~10m mast
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Future work
• Development of the final prototypeDevelopment of the final prototype• Finalizing the Driver Vehicle InterfaceFinalizing the Driver Vehicle Interface• Engineering tests of the intersection and vehicle Engineering tests of the intersection and vehicle
prototypeprototype• Pilot-FOT with naïve driversPilot-FOT with naïve drivers
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Vehicle Safety Communications – Applications (VSC-A)
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Introduction• 3 year project - December 2006 to November 2009. 3 year project - December 2006 to November 2009. • Collaborative effort between 5 OEMs (DCX, Ford, GM, Collaborative effort between 5 OEMs (DCX, Ford, GM,
Honda & Toyota) and US DOT (+ Volpe & Mitretek).Honda & Toyota) and US DOT (+ Volpe & Mitretek).• Goal: Determine if DSRC @5.9 GHz & vehicle positioning Goal: Determine if DSRC @5.9 GHz & vehicle positioning
can improve upon autonomous* vehicle-based safety can improve upon autonomous* vehicle-based safety systems and/or enable new communication-based safety systems and/or enable new communication-based safety applications.applications.
• Follow-on project to CAMP/DOT VSC (2002-2004) project Follow-on project to CAMP/DOT VSC (2002-2004) project and CAMP internal EEBL** project.and CAMP internal EEBL** project.
• Strong emphasis on resolving current communication and Strong emphasis on resolving current communication and vehicle positioning issues so that interoperable future vehicle positioning issues so that interoperable future deployment of DSRC+Positioning based safety systems deployment of DSRC+Positioning based safety systems will be enabled.will be enabled.
* The word ‘autonomous’ is used to indicate that no cooperation from other vehicles or the infrastructure is required .** Emergency Electronic Brake Lights
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Objectives
1.1. Assess how previously identified critical safety scenarios Assess how previously identified critical safety scenarios in autonomous systems could be addressed and improved in autonomous systems could be addressed and improved by DSRC+Positioning systems.by DSRC+Positioning systems.
2.2. Define set of DSRC+Positioning based vehicle safety Define set of DSRC+Positioning based vehicle safety applications and application specifications including applications and application specifications including minimum system performance requirements.minimum system performance requirements.
3.3. In coordination with NHTSA and VOLPE, develop a well In coordination with NHTSA and VOLPE, develop a well understood and agreed upon benefits versus market understood and agreed upon benefits versus market penetration analysis, and potential deployment models for penetration analysis, and potential deployment models for a selected set of communication-based vehicle safety a selected set of communication-based vehicle safety systems.systems.
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Objectives - continued
4.4. Develop scalable, common vehicle safety communication Develop scalable, common vehicle safety communication architecture, protocols and messaging framework (interfaces) architecture, protocols and messaging framework (interfaces) necessary to achieve interoperability and cohesiveness among necessary to achieve interoperability and cohesiveness among different vehicle manufacturers. Standardize this messaging different vehicle manufacturers. Standardize this messaging framework and the communication protocols (including message framework and the communication protocols (including message sets) to facilitate future deployment.sets) to facilitate future deployment.
5.5. Develop accurate and affordable vehicle positioning technology Develop accurate and affordable vehicle positioning technology needed, in conjunction with the 5.9 GHz DSRC, to support most of needed, in conjunction with the 5.9 GHz DSRC, to support most of the safety applications with high potential benefits.the safety applications with high potential benefits.
6.6. Develop and verify set of objective test procedures for the vehicle Develop and verify set of objective test procedures for the vehicle safety communications applications.safety communications applications.
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2007 2008 2009
VSC-A Research Activities and Timeline
Problematic scenarios& safety apps. selection
DSCR+Positioning safety system conops, requirements and minimum systems specs.
Relative vehicle positioning development
DSRC+Positioning and autonomous sensing safety system analysis -
Paper study
System architecture, standardized messages, security and communication protocols
Objective test procedures development
Coordination with standards development activities and other USDOT programsSAE, IEEE DSRC, CICAS-V, VII, Europe Car2Car, Japan ASV
Vehicle safety system test bedSystem design, algorithms (path prediction, threat, warning) & in-vehicle integration
System testing and objective test procedures validation
Benefit analysis support to USDOT, Volpe & Mitretek)
Level I test bedimplementation
Level II test bedimplementation
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VSC-A System Test Bed
• VSC-A System will consist of multiple safety applications running simultaneously.VSC-A System will consist of multiple safety applications running simultaneously.• Initial list consists of: Initial list consists of:
Safety Features Applicable NHTSA Crash Categories
Emergency Electronic Brake Lights (EEBL) Rear-end crashes
Stopped Vehicle Ahead Warning (SVA) Rear-end crashes
Blind Spot and Lane Change Warning (LCW) Lane change crashes
Forward Collision Warning (FCW) Rear-end crashes
Pre-Crash Sensing and Collision Mitigation (PCS & CM)
Crash mitigation
Curve Speed Warning (CSW) Road departure crashes
Do-not-pass Warning On-coming crashes
Intersection Movement Assist Intersection crashes
• No DVI optimization or Human Factors work is planned as part of this No DVI optimization or Human Factors work is planned as part of this project – Only engineering DVIs are planned.project – Only engineering DVIs are planned.
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January 2007 List of initial critical target scenarios identified by NHTSA from earlier research and FOTs
May 2007 VSC-A team and NHTSA jointly finalize list of safety applications for VSC-A system
November 2007 Task 5 Interim Report – Initial system concept, minimum specifications, message composition, security and vehicle positioning
February 2008 System concepts of operation and minimum system performance requirements.
May 2008 VSC system level I implementation
January 2009 Objective Test Plan defined
March 2009 VSC-A system level II implementation
November 2009 Final Project Briefing and Report – project ends.
VSC-A Major Milestones