CAV from Public Sector Perspective

Larry Head

Systems and Industrial Engineering

University of Arizona

August 2, 2016

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Outline

Review of DSRC channels, current uses (e.g. Channel 172 for safety,…)

WAVE Short Messaging Protocol (WSMP - IEEE 1609)

Update on SAE DSRC Standards

Spectrum Sharing Proposals and FCC Review

AASHTO Comments

2

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

DSRC Channels

8/17/20163

Source: Delgrossi, L. and T. Zhang, Vehicle Safety Communications: Protocols, Security, and Privacy, Wiley, 2012.

High Availability Low Latency

High Power Long Range(Public Service)

Selected MMITSS Priority Channel

WSA – WAVE Service Announcement

Service on Channel (PSID+PSC)

Public ServiceEmergency

BSM 10 HzMAP 1 HzSPaT 10 Hz

SRMSSM

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Connected Vehicle Architecture:Multi Modal Intelligent Traffic Signal System

4

Latency vs. Communications Technologies For IntelliDriveSM

Lat

ency

(in

sec

onds)

Active Safety Latency Requirements (secs)

Traffic Signal Violation Warning 0.1

Curve Speed Warning 1.0

Emergency Electronic Brake Lights 0.1

Pre-Crash Sensing 0.02

Cooperative Forward Collision Warning 0.1

Left Turn Assistant 0.1

Lane Change Warning 0.1

Stop Sign Movement Assistance 0.1

Most Stringent latency

requirement for Active Safety

(.02 sec)

Note: Y-axis not to scale for illustration purposes

Least stringent latency

requirement for Active Safety

( 1 sec)

Data source: Vehicle Safety Communications Project – Final Report

Communications Technologies

.02

5.0

1.0

2.0

3.0

10

20

40

60

4.0WiFi 802.11

(3 - 5 secs)

Terrestrial Digital Radio &

Satellite Digital Audio Radio

(10 - 20 secs)

WiMax

(1.5 - 3.5 secs)

Bluetooth

(3 - 4 secs)

Two-Way Satellite

(60+ secs)

5.9 GHz DSRC (.0002 secs)

Cellular

(1.5 - 3.5 secs)

.01

5

From US DOT Briefings on Connected Vehicle

8/17/2016

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

IEEE 1609 Standards that Define How DSRC Works

6

Standard Title/Descriptions

IEEE 1609.11 Over the Air Electronic Payment

IEEE 1609.10 Provider Service Identifier Allocation (PSID)

IEEE 1609.4 Multi Channel Operation

IEEE 1609.3 Networking Services:IPv6, Wave Short Message Protocol,..

IEEE 1609.2 Security Services for Applications and Message Services

IEEE 1609.0 Wireless Access in Vehicular Environments WAVE) Architecture

IEEE 802.11 Wireless LAN Medium Access Control (MAC) and Physical Layer Spec

Coordinating with ETSI TC-ITS and ISO TC204 WG18

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

DSRC Channels

8/17/20167

Source: Delgrossi, L. and T. Zhang, Vehicle Safety Communications: Protocols, Security, and Privacy, Wiley, 2012.

High Availability Low Latency

High Power Long Range(Public Service)

Selected MMITSS Priority Channel

WSA – WAVE Service Announcement

Service on Channel (PSID+PSC)

Public ServiceEmergency

BSM 10 HzMAP 1 HzSPaT 10 Hz

SRMSSM

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Dynamic Mobility Applications (DMA) (US DOT)

ATIS - Multi-Modal Real-Time Traveler Information CACC - Cooperative Adaptive Cruise Control DRG - Dynamic Routing of VehiclesD-RIDE - Dynamic RidesharingDR-OPT - Drayage OptimizationECO - Connected Eco DrivingEFP - Multimodal Integrated Payment System ETC - Electronic Toll Collection SystemEVAC - Emergency Communications & EvacuationF-ATIS - Freight Real-Time Traveler Information with Performance MonitoringF-DRG - Freight Dynamic Route GuidanceFSP - Freight Signal Priority ICM - NxGen Integrated Corridor ManagementINC-ZONE - Incident Scene Workzone Alerts for Drivers and WorkersI-SIG - Intelligent Traffic Signal SystemMAYDAY - Mayday Relay PED-SIG - Mobile Accessible Pedestrian Signal SystemPREEMPT - Emergency Vehicle Preemption with Proximity WarningQ-WARN - Queue WarningRAMP - NxGen Ramp Metering SystemRESP-STG - Incident Scene Pre-Arrival Staging Guidance for Emergency RespondersS-PARK - Smart Park and RideSPD-HARM - Dynamic Speed HarmonizationT-CONNECT - Connection Protection T-DISP - Dynamic Transit OperationsT-MAP - Universal Map Application TSP - Transit Signal Priority VMT - Mileage Based User FeesWX-INFO - Real-Time Route Specific Weather Information for Motorized and Non-Motorized Modes WX-MDSS - Enhanced MDSS

8/17/20168

http://www.its.dot.gov/press/2011/mobility_app.htm

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Basic Operational Concept

• When a vehicle enters/remains in the range of an RSU

1. Hears (Listens for…)

o CH 172:: MAP/SPaT (Radio #1)

o CH 178:: WAVE Service Announcement (go to CH XX for application) (Radio #2)

2. CH 172:: Continues to Broadcast Basic Safety Message (BSM)

3. If vehicle wants to participate in another application

a. Switch Radio #2 to CH XX (from WSA)

b. Exchange Messages per Application ConOps

c. Switch Radio #2 back to CH 178

d. Repeat as needed

August 17, 20169

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Basic Operational Concept:Traffic Signal Priority

• When a vehicle enters/remains in the range of an RSU

1. Hears (Listens for…)

o CH 172:: MAP/SPaT

o CH 178:: WAVE Service Announcement (go to CH 182)

2. CH 172:: Continues to Broadcast Basic Safety Message (BSM)

3. If vehicle wants to participate in another application

a. Computes Position on MAP, Desired Service Time (ETA), Desired Ingress and Egress (maybe)

b. Sends a Signal Request Message (SRM)

c. Receives Signal Status Message (SSM - confirmation)

d. Update SRM if needed

e. Passes through intersection

f. Sends a Cancel Signal Request Message (SRM)

August 17, 201610

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Update on SAE DSRC Standards

Standard Title/Description Status

J2735 DSRC Message Set Dictionary Published (Mar 2016)

J2945/0 DSRC Minimum Performance Requirements (Base Requirements)

Final Comments (Fall 2016)

J2945/1 On-board System Requirements for V2V Safety Communications

Final Comments (Fall 2016)

J2945/2 Performance Requirements for V2V Safety Awareness

?

J2945/6 Performance Requirements for Cooperative AdaptiveCruise Control

?

J2945/9 VRU Safety Message Minimum Performance Recommendations

Final Comments (Fall 2016)

J2945/X MAP and SPaTTraffic Signal Priority/PreemptionRoad Weather DataProbe DataBIM (CAMP: Basic Infrastructure Message)BIM (Pooled Fund: Basic Infrastructure Message)

Task Force Teams Formed and Working(Draft Fall 2016)

11

Structure of the Standards

12

DSRC PHY+MAC (IEEE 802.11p)

DSRC Upper MAC (IEEE 1609.4)

PSID (IEEE 1609.12)

DSRC WAVE Short Message Protocol

(IEEE 1609.3) IPv6

TCP/IP

Application Messages

(SAE J2735, 2945/X)

Non-Safety Applicaitons

DSR

C Secu

rity (IEEE 16

09

.2)

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | ConclusionFCC Spectrum Sharing

13

FCC / DSRC Timeline

July 2016 Comments and Responses submitted to FCC

June 2016 FCC Proposed Rule, 47 CFR Part 15, ET Docket No. 13–49; FCC 16–68

Federal Registry Vol. 81, No. 109, 6/7/2016

Unlicensed National Information Infrastructure (U–NII) Devices in the 5 GHz Band

June 2016 Wi-Fi Alliance testimony to National Telecommunications and Information Administration in Washington, DC.

May 2016 ET Docket No. 13-49, FCC 16-68

March 2016 Petition by Association of Global Automakers to FCC regarding “harmful interference to TDWRs” in DSRC

bandwidth and OOBE incursions

September 2015 Letter to USDOT from V2V Industry Stakeholders

February 2015 H.R. 821 Introduced on 2/10/15 by Rep. Robert Latta (R-OH)

February 2014 Commissioner’s speech to regarding unlicensed and DSRC uses in the UNII-4 band

April 2013 Revision of Part 15 of the Commission's Rules to Permit Unlicensed National Information Infrastructure (U-NII)

Devices in the 5 GHz Band, ET Docket No. 13-49, Notice of Proposed Rulemaking, 28 FCC Rcd 1769 (2013)

(NPRM); 78 FR 21320

April 2013 Australian study on potential interference between satellite downlink channel and C-ITS (DSRC)

February 2013 Notice of Proposed Rulemaking

January 2013 USDoC Report “Evaluation of the 5350-5470 MHz and 5850-5925 MHz Bands Pursuant to Section 6406(b) of the

Middle Class Tax relief and Job Creation Act of 2012

February 2012 Middle Class Tax Relief and Job Creation Act of 2012 required the NTIA to conduct a study to evaluate spectrum-

sharing technologies and potential risks of allowing devices to operate in the 5.9 GHz band.

August 2011 FCC Public Notice for Qualcomm to operate, test, and evaluate in 5.85-5.925 GHz bandwidth

December 2003 R&O licensing and service rules for DSRC Service in the ITS Radio Service 5.850-5.925 GHz (5.9 GHz band)

March 2001 WTB seeks comments on report “Status Report on Licensing and Service Issues and Deployment Strategies for

DSRC-based Intelligent Transportation Services in the 5.850-5.925 GHz Band”

1999 1999 DSRC Order - that non-safety functions could operate on an unlicensed basis separate from the safety-of-life

DSRC

1997 ITS America petitions FCC for 75MHz spectrum in 5.9 GHz band for DSRC

14Source: J. Kenny, ETSI ITS Workshop, March 8, 2016

15Source: J. Kenny, IEEE GLOBCOM Industry Forum, Dec. 2015

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

AASHTO Comments

• "AASHTO also expresses its support for spectrum sharing only in situations and areas where it is technically feasible and will not compromise the safety and economic advances offered by DSRC technologies. Therefore, it requests that any decisions regarding the sharing of the 5 GHz spectrum band happen only after there is technical confirmation that it will not jeopardize such advances. "

• Solutions that require creation of a database of DSRC fixed locations would be unable to account for nomadic nature of travelers: vehicles, pedestrians, bicycles, commercial vehicles, …

• Re-channelization would severely restrict the number of applications that can improve safety (e.g. Left Turn Assist, ….)

• International Harmonization is important for interoperability, …

• There are already installed devices (significant investment): Michigan, San Francisco, …, CV Pilots (NY, FL, WY), General Motors (Cadillac), Test Beds (Maricopa County, VA, CA, FL, …)

16

Prepared by Peter Moncure, Gummada Murthy, Dean Deeter, Larry Head, Blaine Leonard, Paul Steinman, and Shailen Bhatt

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Review and Response to Comments

• Qualcomm comment: "... no amount of testing will eliminate the risk of interference that remains by leaving the safety-of-life communications in DSRC Channel 172 that subjects these communications to OOBE interference from U-NII-3 operations that will be omnipresent in vehicles and in parks, libraries, homes and businesses. Qualcomm estimates that Channel 172 could experience interference from OOBE levels generated by U-NII-3 operations at a distance that is several hundred meters away. "

• Oakland County Michigan: Extending spectrum could be a source of revenue to support infrastructure costs

• On Detect and Avoid: Rigorous testing must be instituted. This could be challenging give their deadline of January 2017 and the potential expense.

• One Re-channelization: Most comments reject this option due to lack of bandwidth for applications, existing standards and investment

17

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Afterthoughts….

• 5.9 GHz Spectrum and DSRC are a powerful tool (opportunity) for the infrastructure and vehicle partners to work together to improve safety (as well mobility and the environment)

• Secondary effects of improved mobility result in improvements to safety (prevent loss of life)

• Example: Speed Harmonization, Queue Warning, Vulnerable Road Users

• We are only beginning to explore the possibilities

• Rigorous Testing is Required – for spectrum sharing

• CV Pilots, Test Beds, …… (Doesn't have to be in the laboratory)

• We need to ask how the standards can/will evolve

• We can't afford to freeze the standards

18

Introduction | System Architecture | Simulation Environment | Signal Priority Algorithm | Coordination Priority | Extended Model | Weight Analysis | Conclusion

Questions?Discussion

Larry Head

Systems and Industrial Engineering

University of Arizona

klhead@email.arizona.edu

(520) 621-2264

August 17, 201619