MN IDS Intersection Construction Update

MN IDS Test Intersection

Design Completed 15 Jan 2004 Design review with Mn/DOT traffic, geometric,

district, and ESS engineers Good advice

• Recommendations for sensor mounts (3# U channel)• Nothing in the median lasts

Revised cross-roads surveillance • Laser sensors to Visible Light/IR Cameras

Explored opportunity to cooperate on construction• Month of negotiations, didn’t work out.

ROC 52 ESS

MN IDS Test Intersection

Mid-February, back to drawing board Began RFP Process with U Purchasing

Facilities Management Buyer Handled RFP process Regents Approval > $100,000 Much interaction with Mn/DOT on RFP document Request for Bids was let 23 March 2004 One bid, Shane Electric in Zumbrota, MN

• Trenching • Under-road pushes• Power cabinet construction (thanks, Ray!)• Installation of Camera Masts

MN IDS Test Intersection

Mn/DOT Assistance (Feb 06 Meeting) Sensor posts Reflectors Special Needs

• Mowing• Plowing

U Assistance Live video streams from Intersection Useful for maintenance

MN Test Intersection Final Design

Instrumentation

Mainline Vehicle speed, position, lane of travel (Radar) 2000 foot coverage before Xroads (Radar) 800 foot coverage beyond (Radar) 53’x36’ coverage at camera (IR/Visible) Hardwired and Wireless Communication

• Cost and performance trade-off analyses

Crossroads Vehicle type (Radar and laser based) Vehicle approach speed (adapt VA technology at a later date?) Trajectory leaving minor road

• Right turn (camera + radar)• Straight through (camera)• Left turn (camera + radar)

MN Test Intersection-Mainline Sensors

Radar

Camera Suite(for evaluation)

Camera FOV53’x36’

Radar to track vehicles past crossroads (primarily for minor road trajectory recording)

Mainline Highlights

Camera / mast provides independent means to verify Radar performance Camera performance Gap tracker performance Emerging technologies

May or may not be part of final system Benefit:cost analysis Poor weather capability of vision based systems

Mainline Radar Sensor

Laser / Radar Sensor Mount

•Approved by Mn/DOT Right-of-Way Engineer•350 Crash worthy•Will include break-away conduit and connector•Will include reflector at top of 3# U channel

Radar Performance Results: Geometrics

//

Radar Beam

Lane 1

Lane 2

DLC

2

DLC

1

L1Cov

L2Cov

Radar Beam Range (440 ft)

= Radar Orientation Angle (w .r.t. lane)DLC1 = Sensor Distance from Lane-center 1DLC2 = Sensor Distance from Lane-center 2LCov1 = Theoretical Lane coverage (Lane 1)LCov2 = Theoretical Lane coverage (Lane 2)

BeamWidth(120)

ActualVehiclePosition

SensorReportedPosition

RadarStation

}}

Radar Performance Results: Coverage

Radar Performance Results: Lane Classification Errors

Radar Performance Results: Speed Errors

Intersection Crossroads-Vehicle Trajectory

C4 FOV

C3 FOV

Cameras at intersection corners capture the trajectory of vehicles entering intersection from minor roads. Mn/DOT advised that median-based sensors won’t live. (Crashed out).

Advantages Lower Cost ($10k per camera) Can order camera with desired lens (saves cost of

purchasing additional lenses_ Flexible (more camera, cover more area)

Disadvantages Multiple cameras require multiple masts ($6k per

mast) Lower resolution makes image processing more

difficult

Intersection Surveillance – 160x120 Pixels (tests Thursday, 15 April 2004)

Example of 160x120 IR camera

Advantages Higher Resolution – simplifies image processing One 320x240 camera can cover more area than 2

160x120 cameras Potentially lower costs (fewer masts, less cabling,

etc.)

Disadvantages Higher Cost baseline - $15K Comes with fixed 25 degree FOV lens Additional lens $5k

Intersection Surveillance – 320x240 Pixels (tests Thursday, 15 April 2004)

Example of 320x240 IR camera

Single Camera Configuration

Pixel Sizes at far field:A20 - 11.32 x 17.6" A40 - 5.66 x 8.8"

Double Camera Configuration

Pixel Sizes at far field:A20 8.16x11.61" A40 4.08x5.8"

Previous configurationA40 - 5.66 x 8.8"

Camera Based Validation – Tracking Example (ca. March 2003)

Tracking on this side

No tracking on this side

Camera Mount Detail

Intersection Crossroads – Vehicle Classification

Horizontal LaserScanner

Vertical LaserScanner

Classification Capable T-300 Radar

Classification Capable T-300 Radar

R/WIS Data from Intersection

Mn/DOT updates at 10 Minute intervals. Data collected every 10 minutes

Information Available from Intersection

Distribution of gaps accepted by drivers for right turns for left turns for crossing intersection (see next page)

Cross-correlated with Vehicle type / size Driver age (macroscopic level, limited basis initially) Driver gender (limited basis initially) Weather effects (R/WIS 0.9 Mile away), with in-road

sensors (collecting data already)

Information Available from Intersection (cont’d)

Maneuvers executed by drivers from minor road Left turn in one stage or two?

• Variation in left and right gaps accepted for each maneuver type

• Cross-correlation with vehicle type

Crossing intersection in one stage or two? • Variation in left and right gaps accepted for each maneuver

type• Cross-correlation with vehicle type

Information Available from Intersection (cont’d)

Response of mainline traffic Speed adjustment if stationary vehicle on minor road

• Do mainline drivers adjust speed if a vehicle is spotted on minor road?

• Will mainline drivers move to left lane (when possible) to provide a lane for the minor road traffic?

Reaction of drivers on major road if too small gap is accepted

• Braking?• Lane change? • Other?

Design Detail: Main Controller Cabinet

Ethernet Switch

Main Control Computer

MarshallVL2122 Rcrv

MarshallVL2122 Rcrv

MarshallVL2122 Rcrv

MarshallVL2122 Rcrv

Circuit Breaker Panel50Amp. Power

sourced from MainDistribution Cabinet

Cabinet Power Outlet

Phone Jack

Ethernet fromSouthbound Lane

Ethernet from Northbound Lane

Video fromNorthbound Lane

Video fromSouthbound Lane

Ethernet Switch

2158 Power

SupplyPowerSupply

1001RChassis21

58

2158

2158

2158

2158

2158

2158

2158

2158

2158

2158

2158 Power

SupplyPowerSupply

1001RChassis21

58

2158

2158

2158

2158

2158

2158

2158

2158

2158

2158

c

iDAQ ComputerRemovable Hard Drive

120 VAC Outlet Strip with Surge ProtectionMinimum 12 outlets

iDAQ Computer 2

c c

MarshallVL2122 Rcrv

MarshallVL2122 Rcrv

Removable Hard Drive

Cabinet, BreakerPanel, and 120 VoltOutlet Supplied byUniversity. Cabinetto be installed bycontractor.Conctractor willmake 120 voltconnection frompower distributioncabinet to the maincontroller circuitbreaker and theinternal 120 Voutlet.

Design Detail: Intersection Cabling

3" Conduit

RE1

Cable Distribution Along Southbound Leg

R1

R6

RE2RE3

RE4RE5

RE6

RE7

R7

SE2

SE1

V1

CS

AH

9

Note: This camera masthouses Extron video signalamplifier. Thus, dual cable

runs.

CABLE COUNTEleven EthernetFour VideoOne Power

Handhole

V2V3

V2

3"Conduit

Hwy52

3"

Co

nd

uit

3"

Co

nd

uit

V4

3"

Co

nd

uit

Handhole

CE1

R5R4R3R2

3"

Co

nd

uit

RE

1

RE

2

V5CE2

V1

RE

3R

E4

RE

5R

E6

RE

7S

E1

SE

2

CE

2

CE

1

V5

V4

V3

HandholesHandhole

3" Conduit 3"Conduit

V2

RE

1

RE

2

RE

3R

E4

RE

5R

E6

RE

7S

E1

SE

2

CE

2

CE

1

V5

V4V3

Handhole

4-Twisted Pair, Plenum Cat 5 Cablein 1in schedule 80 non-metal conduitunless specified otherwise

Dual Lead, common ground RG 6 cablein 1in schedule 80 conduit unlessotherwise specified

Legend

Camera Mast/Base

Radar / Laser Cabinet

ONE 3-Conductor, 4/0 gage THWN CuCable, with separate ground wire in3in non-metal schedule 80 conduit

ONE 3-Conductor, 3/0 gage THWN CuCable, with separate ground wire in 3innon-metal schedule 80 conduit.

Handholes per Mn/DOT StandardPlate 8114A

3" Conduit

Design Detail: Intersection Cabling

Cable Distribution Along Northbound Leg

SE

4

CS

AH

9

RE8

V6

RE14RE13

CE

3

CABLE COUNTEleven EthernetFour VideoOne Power

ControlCabinet(334)

PhoneConnection

ElectricMeter

From Transformer

PowerServiceCabinet

(L2)

Hwy52

3"

Co

nd

uit

3"

Co

nd

uit

R8R10 R9

RE9RE10

R11R12

RE11

RE12

Handholes

3" Conduit 3"Conduit

V2

RE

1

RE

2

RE

3R

E4

RE

5R

E6

RE

7S

E1

SE

2

CE

2

CE

1

V5

V4V3

3" Conduit

V2

3"Conduit

RE

1

RE

2

RE

3R

E4

RE

5R

E6

RE

7S

E1

SE

2

CE

2

CE

1

V5

V4

V3

V8

3"

Co

nd

uit

S3

S4

R14 R13

3"

Co

nd

uit

SE

3V

7

HandholesCE4

4-Twisted Pair, Plenum Cat 5 Cablein 1in schedule 80 non-metal conduitunless specified otherwise

Dual Lead, common ground RG 6 cablein 1in schedule 80 conduit unlessotherwise specified

Legend

Camera Mast/Base

Radar / Laser Cabinet

ONE 3-Conductor, 4/0 gage THWN CuCable, with separate ground wire in3in non-metal schedule 80 conduit

ONE 3-Conductor, 3/0 gage THWN CuCable, with separate ground wire in 3innon-metal schedule 80 conduit.

Handholes per Mn/DOT StandardPlate 8114A

Intersection Build Details

Hardware Cameras, radar, lasers, camera masts, radar

stations, etc., ordered or out on bid. iDAQ (intersection Data AcQuisition) computers built

Software Camera based vehicle tracking software under

continued development (20 FPS vs. existing 5 FPS for improved tracking and robustness)

Wireless system integrity software scaled from Demo 2003 version

IR Camera demo/eval at U of MN 15 AP 2004

Intersection Build Details – costs (Don’t Panic!)

•Radar Stations •Vehicle Classification Stations•Vision Systems•Central Cabinet•Ethernet and Video Cable

$191,837

Partner State Research Intersections

Minnesota Intersections 4 Camera masts (eval)

• $24K 4 Laser sensors for vehicle

classification validation• $26K

2 or 4 IR Cameras• $40k

4000 ft. of trenching• (no cost estimate yet)

Wireless and Hardwired ethernet• $18K DSL, $4K wire

Wired for big power

Partner Intersections 1 Camera Mast at Xroads

• $6k Eaton radar likely validated

• $0K 1 IR Camera

• $10 or 20K 3000 feet of trenching

• (no cost estimate yet) (hopefully) Wireless ethernet Significantly lower power

requirements

States’ Savings: $84 K, making investment $207,000Power and Data costs approximately $150/mo

Schedule Adherence

TODAYIntersection Brought On-lineHuman Factors Simulator DII Testing BeginsFinal Report Preparation Begins

Questions? Comments? Problems?

Field Trip!