(Sky-Tel) Smart Transport, Energy & Envrionment Radio - STEER, presentation to Caltrans, 2009

8/14/2019 (Sky-Tel) Smart Transport, Energy & Envrionment Radio - STEER, presentation to Caltrans, 2009

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Smart Transport, Energy & Environment Radio systems

Proposal to Mike Miles & Caltrans, July 6, 2009 [*]

- Warren Havens, Skybridge Spectrum Foundation (SSF) et. al.

- Raja Sengupta and Jim Misener ofUCB & others affiliated

- ESRIis involved in STEER but may not be able to attendAgenda & Contents

1. SSFSpectrum + Caltrans = basis of Statewide STEER systems.

2. SSFSTEER Challenge Grant Offer: Its Cal spectrum+ to, in exchange for Cal Statecommitment to: Cal STEER (by public- foundation JV) ... offerto first State adopter.

3. STEERs - What, Why, How wake up & steeror crash . . .

a. Lots of sub-GHz spectrum = KEY SSFs + adjacent (sec. 1).

b. High accuracy location (HALO) = further core component UCB.

c. Dynamic GIS (d-GIS)= further core ESRI(& -?- ESRI Foundation).

d. STEERs radio tech & equipment: current & future.4. Stage 1: Serve Caltrans needs now, which are? - question to Caltrans.

5. Stage 2: Pilot projects need Fed Stimulus & other funding soon: $20-50 million.

6. Stage 3: STEER deployments nothing stopping nationwide but smart action.

- - - - -[*] (1) SSF Proposal only by SSF. (2) Core concepts herein largely shared by others noted.

(3) HALO slides by Sengupta & Havens. SSF + PATH have cooperative HALO program.

STEER Public Interest Wireless


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SSF Spectrum + Caltrans = basis of Statewide STEER systems

Caltrans has STEERs physical infrastructure- (i) antenna sites, rights of way, and

operating capabilities, and (ii) internal and served-public needs; and utilities do also.

SSF has STEERs radio spectrum infrastructure & can get adjacent spectrum with State:

ITS-Class M-LMS: 6 MHzsecured- 80% of US, most all urban.

30 W ERP, any antenna height, for wide-area coverage.

In the 902-928 MHzmobile Location & Monitoring Service.

Bought in FCC spectrum auctions. (No,not much used by unlicensed.)

ITS-Class N-LMS: 14 MHzavailable - nationwide.

30 W ERP, 15 m AGL, for bi-directional along-road coverage &mobile to M-LMS. In the 902-928 MHzmobile Location & Monitoring Service.

Available for wide-area ITS systems with gov agency involvement.

Also forfixedpoint-to-pointruralconnections of HALO base stations.

217-222 MHz: 1-3 MHzsecured - 80%+ of US, most all rural, some urban.

100s W ERP, any antenna height, for very wide rural coverage (JEEPspectrum).

ITS-Class DRSC: 20 -75 MHz available - nationwide.

In 5.9 GHz. For mobile short-range coverage, for ITS (some4.9 GHz also).

High data-rate, high-capacity, Vehicle-to-V, & V-to-Roadside,but kept connectedby above lower-spectrum wider coverage nets.

Also forfixedpoint-to-point urban connections of HALO base stations.


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Radio Spectrum lower is further & better

From Telesaurus (SSF affiliate), by Doug Reudink, Ph.D.

DSRC(5900

MHz)

range is

highly

limited:its less

then 4900

MHz:

DSRC

200 MHz- SSF Rural

900 MHz - SSF Urban


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STEER What it is?

Once upon a time . . .

vehicle communications was like this

digit-ally censored forthe politer audience


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STEER What it is ? (contd)

then there was a better way

in Smart Transport, Energy & Environment Radio systems

like this


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|

80

902-928 MHz: M-LMS

5.9 GHz DSCRVehicle to-Vehicle

& Vehicle-to-Roadside902- 928 MHz: N-LMS217-222 MHz

N

S

EW

+ Inertial

N-RTK

N-RTK

N-RTK

N-RTKto vehicles on

200 & 900 MHz

HALO + ITS CommunicationsSame for the expanded: Smart Transport, Energy & Environment Radio

Dynamic GIS based ESRI, see:http://www.govtech.com/gt/articles/652976?printall


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Wireless for a Sustainable World

HALO = Track it I am exactly here, moving exactly there,

and the system knows same for all of us.(I and us = vehicles, pedestrians, shipping containers, etc.).

+ d-GIS = Plot it By second, I got your position, direction,

status on exact maps with all other moving & static things.

+ 4G Radio* = Connect it all TEEmoving things HALO

& status, all time, everywhere. *(Dedicated, critical grade, 2-way.)

= Smart Systems : Manage & protect it transport, energy,

environment with precision needed by above.

STEER = Safe, efficient, sustainable, good business

Smart Transport, Energy & Environment Radio systems

STEER Public Interest Wireless


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ESRI, see GovTech article: http://www.govtech.com/gt/articles/652976?printall

Where do you see your company or GIS in general fitting in with smart grids andintelligent transportation? How can we actually use GIS to make a tangible improvementin the way we travel?

Jack Dangermond, ERSIowner and CEO:

I see GIS as a foundation platform for smart grid and intelligentnetworks, like highway or bus networks.

It's the information system that really supports all the optimization,tuning and energy-saving applications that are envisioned.

GIS introduces the relationships and patterns. Imagine when fullGIS capabilities - all the analytics and power - are available toeveryone so they could be more thoughtful and considerate aboutwhat they're doing to the environment. That will change the way weoperate as a society.

The GIS revolution that's occurring is no little idea. It's not just anotherkind of IT. It's fundamental to the way people act now and will be[more] that way in the future as it becomes more pervasive, as itbecomes embedded in every device and mobile device. It will helpguide us where to go.

STEER- Dynamic GIS


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Public Safety & Core Traffic Flow- - - - - - - - - -

VIRTUAL TRACK TRASPORT (VTT)

Lateral & Longitudinal Spacing

NO ACCIDENTS OR CONGESTION

Stop lights & signs secondary.- - - - - - - - - -

APPROACHING EMERGENCY VEHICLEEMERGENCY VEHICLE SIGNAL PREEMPTIONVEHICLE BASED PROBE DATA COLLECTIONTRAFFIC INFORMATION

CURVE SPEED ASSISTANCESTOP LIGHT ASSISTANT INFRASTRUCTURE

INTERSECTION COLLISION WARNING/COOPERATIVE COLLISION WARNING

OPTIMAL SPEED ADVISORY

COOPERATIVE VEHICLE SYSTEMRAILROAD COLLISION AVOIDANCE

INFRASTRUCTURE BASED TRAFFICVEHICLES AS PROBES

WORK ZONE WARNINGROAD CONDITION WARNING

ROLLOVER WARNINGLOW BRIDGE WARNING

LOCATION BASED PROBE DATA COLLECTION

TRANSIT VEHICLE DATA TRANSFERTRANSIT VEHICLE SIGNAL PRIORITY

EMERGENCY VEHICLE VIDEO RELAYMAINLINE SCREENING

BORDER CLEARANCEON-BOARD SAFETY DATA TRANSFER

VEHICLE SAFETY INSPECTIONDRIVERS DAILY LOG

HALO + ITS Communications some applications*

* Most (but not VTT) from a CALM paper: does not represent many HALO and other advanced ITS wide-area communication applications.

STEER Partners Fleets, Served Private Entities & Other- - - - - - - - - -

ADVANCED AVL & Fleet & Workforce routing & logistics

ACCESS CONTROLDRIVE-THRU PAYMENT

PARKING LOT PAYMENTDATA TRANSFER

INFOFUELINGATIS DATADIAGNOSTIC DATA

REPAIR-SERVICE RECORDVEHICLE COMPUTER PROGRAM UPDATES

MAP and MUSIC DATA UPDATESVIDEO UPLOADS

DATA TRANSFER / CVO / TRUCK STOPENHANCED ROUTE PLANNING and GUIDANCE

RENTAL CAR PROCESSINGUNIQUE CVO FLEET MANAGEMENTDATA TRANSFER

TRANSIT VEHICLE (yard)TRANSIT VEHICLE REFUELING MANAGEMENT

LOCOMOTIVE FUEL MONITORINGDATA TRANSFER / LOCOMOTIVE

Asset Container tracking

Maritime, harbor, and rail.

Special Military & other fleets AVL, logistics, etc.

Emergency Response: many essential applications.

Various Web Applications


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High Accuracy Location

HALOHALONationwide Systems Project

Representing theHALO Group:

Raja Sengupta - UC BerkeleyKannan Ramchandran - UC BerkeleyWarren Havens - Skybridge Spectrum Foundation

Contact information on last slide.

TheHALO Group website will soon be public.

June 1, 2009

STEER - HALO

[Following are slides from an exiting HALO presentation: some redundant to the preceding.]


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HALO - Concept (slide 1)

Make high accuracy location services ubiquitous

by terrestrial GNSS-augmentation infrastructure:

Start with existing GPS-GNSS + N-RTK + INS, Add HALO augmentation in GPS dark areas:

E.g., pseudolites, AoA along roadways, road

markers, etc. HALO will integrate all below, needed for very

wide area very high accuracy systems.

HALO+INS / Vision(Y%)

+ N-RTK(X%)

+WAAS(W%)

GSP-GNSS(V%)


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HALO+ N-RTK(X%)

+WAAS(W%)

GSP-GNSS

(V%)

+INS / Vision(Y%)


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Commercial E911 needs HALO, also

Vs. E911-- ITS-dedicated wireless needs greater accuracy, reliability, coverage: but it will serve E911 also.


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Why? - some examples

Cooperative Vehicle Safety.

Leverage Rise of Mobile Internet: addHALO: Pedestrian & bike safety (watch out for me).

Accurate maps.

E-911 outside and inside buildings.

Virtual track transport - Guide vehicles laterally & longitudinally on roads andthrough intersections:

Dramatic decreases in accidents, congestion, fuel use,

pollution, emergency response time. Back up GPS in attack or failure - insurance.

Green by Precision Google in Real Space


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HALO - Concept (slide 2)

Make high accuracy location services viable andubiquitous by building out:

HALO augments & integrates GPS-GNSS+ N-RTK + INS.

Needed only in GPS dark areas.

Big bang for small buck: newHALOinfrastructure only in GPS dark areas:

Results in integratedsystems that are viable andhighly valuable (withoutHALO, wide-area high-

accuracy safety-critical apps are not viable). HALO will use existing secure utility and

government wireless site infrastructure =further cost efficiency.


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HALO Spectrum (slide 1)

ITS-Class M-LMS: 6 MHzsecured- 80% of US, most all urban. 30 W ERP, any antenna height, for wide-area coverage.


Bought in FCC spectrum auctions. (No,not much used by unlicensed.)

ITS-Class N-LMS: 14 MHzavailable - nationwide. 30 W ERP, 15 m AGL, for bi-directional along-road coverage.


Available for wide-area ITS systems with gov agency involvement.

Also forfixedpoint-to-pointruralconnections of HALO base stations.

217-222 MHz: 1-3 MHzsecured - 80%+ of US, most all rural. 100s W ERP, any antenna height, for very wide rural coverage.

ITS-Class DRSC: 20 -75 MHz available - nationwide. In 5.9 GHz. For mobile short-range coverage. Available for ITS. High data-rate, high-capacity, Vehicle-to-V, & V-to-Roadside,

but kept connectedby above lower-spectrum wider coverage nets.

Also forfixedpoint-to-point urban connections of HALO base stations.


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HALO Spectrum (slide 2)

From www.telesaurus.com, by Doug Reudink, Ph.D.

Sprectrum

& colorshere

do not

fully

match

spectrum

& colors

on next

slide.

| N


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|

80

902-928 MHz: M-LMS

5.9 GHz DSCRVehicle to-Vehicle& Vehicle-to-Roadside902- 928 MHz: N-LMS217-222 MHz

N

S

EW

+ Inertial

N-RTK

N-RTK

N-RTK

N-RTKto vehicles on200 & 900 MHz

HALO + ITS CommunicationsDynamic GIS based


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HALO - Plan of Action (slide 1)

Cost Benefit Analysis: 2009 - 2011(Clear case exists but CBA useful. Use existing data and iterative projection model.)

Benefits Savings Benefits

In accidents, congestion & fuel use, pollution & environmental damage, humanhealth, loss of productive time, vehicle longevity & insurance, quality of life, goodstransport costs, costs of law enforcement &emergency response, associated indirect costs, etc.

Increases Benefits

Basis for green vehicles & roads, smart grid+V2G, custom variableopen road tolling, US competitive advantages & energy independence, etc.

Costs

(a) Physical Infrastructure (& software infrastructure: dynamic GIS) D-GIS: Structure and cost to start, upgrade, secure: ITS NOC, Fleets, individuals.

GPS-GNSS: How widespread are dark areas?

RF Spectra: FCC rules re ERP, antenna heights, operation:and related density of terrestrial stations, and station technologies.

Phy Infra & rights: Partner utilities & gov agencies: road & other rights of way and

facilities, and build- operate; and theircapacity-use take back: even swap targeted. Mobile devices

Vehicle-installed & Person-borne (in smartphones, etc): each:

Multi-spectrum, multi-protocol, multi-QoS

GPS-GNSS, N-RTK, pseudolite, (+road rfid?)

SDR: software defined radio, (+cognitive radio?)


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HALO - Plan of Action (slide 2)

Pilot & Tests Phase: 2009.5 +, San Fran Bay Area:

Test d-GIS, SDR radios,HALO spectrum, N-RTK.

With N-RTK+INS Rovers: map GNSS light &dark areas in San Maeto Co & project to metro areas.

HALO Phase 1: 2010 +, Cal & other States:

Deploy secure private N-RTK onHALO spectrum &

stage-1 d-GIS, with core infrastructure partners. Use all spectrum for current-grade wireless also.

HALO Phase 2: 2015 +, Nationwide:

On tuned d-GIS, deploy pseudolites, roadside AoA;get cost effective high-grade INS in vehicles, etc.

Wide-area HALO achieved.

Increase major ITS & otherHALO Applications.


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Slides

with additional

HALO details

follow


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Enabling Accurate Maps

Yiguang Xuan (UCB) (one method)

-10 -5 0 5 10 15

-15

-10

-5

0

5

10

X (meter)

Y

(meter)

NorthMagnetometer+ accelerometer

5th floor map

Davis Hall

Davis Hall -UCBAn open map concept:Building maps by streamingdata from smartphones:

Needs Geo-referencingHALO


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Research Challenge: GPS bias

70 75 80 85 90 95 100 105 110

-42

-40

-38

-36

-34

-32

-30

-28

-26

-24

-22

South-North(m)

East-West (m)

GPS and Estimated Paths Comparison

DynamicGPSAR Model

Actual GPS bias:

GPS shows wrong lane

Needs advanced modeling

Estimator output

R h Ch ll GPS bi


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Research Challenge: GPS bias

Right turn at intersection

0 50 100 150 200 250-250

-200

-150

-100

-50

0

South-North(m)

East-West (m)

GPS and Estimated Paths Comparison

GPS PathEstimated Path

Bias during a turn


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Backing

radar

Mid-Range

Mid-RangeForward Collision Radar

Led to Research on Active Safety Systemstargeting the Different Crash Types

Initial Approach:

Sensor based

Multiple sensors for360coverage

Cost remains significant

More Recently: Cooperative Active

Safety

Wireless equipped

vehicles communicationGPS coordinates

Cheap

Blind-spot

radar


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ITS World Congress, Javits November08


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Use an Extended Kalman Filter


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Use an Extended Kalman Filter

2nd Order Bicycle Model

GPS/Vehicle Sensor Integration:

Wheel Speed Encoder

GPS (Position, Heading, and Speed)

Steering angle sensor

Yaw rate sensor (Fog)


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HALO Group - contacts:

Warren HavensSkybridge Spectrum Foundation

[email protected]

510.841.2220

Raja Senpupta

University of California, Berkeley

[email protected]

510.717.0632

(Sky-Tel) Smart Transport, Energy & Envrionment Radio - STEER, presentation to Caltrans, 2009

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