1 CAMP – Vehicle Safety Communications 2 Consortium proprietary CICAS-V Project Update June 5, 2007 Michael Maile Vehicle Safety Communications 2 Consortium

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


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


Major Project Participants


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)


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


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


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


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


Fifth and El Camino detail


CA intersection pictures


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


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.


Intersection in Michigan


Intersection Setup in Michigan

CICAS Cabinet with RSE and GPS

GPS and DSRC Antenna Mounting

CICAS-V Intersection Setup


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


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

1818CAMP – Vehicle Safety Communications 2 Consortium proprietaryCAMP – Vehicle Safety Communications 2 Consortium proprietary

Vehicle Safety Communications – Applications (VSC-A)


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


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.


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.


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


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.


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

Documents

1 CAMP – Vehicle Safety Communications 2 Consortium proprietary CICAS-V Project Update June 5, 2007 Michael Maile Vehicle Safety Communications 2 Consortium