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1U.S. Department of Transportation
Mohamad Talas (NYCDOT, NYC CVPD Project Management Lead)
New York City (NYC) Pilot Update at the System Design Milestone
2U.S. Department of Transportation
New York City is aggressively pursuing “Vision Zero”
“Traffic Death and Injury on City streets is not acceptable”
Vision Zero Goal : to eliminate traffic deaths by 2024
NYC CV Pilot will evaluate □ Safety benefits of CV technology□ Address CV deployment challenges
▪ With a Large number of vehicles & types
▪ Issues associated with the dense urban environment
Project Goals
3U.S. Department of Transportation
Source: NYCDOT
V2V applications work wherever equipped vehicles encounter one another.
ManhattanV2I applications work where infrastructure is installed (along highlighted streets).
The CV project leverages the City’s transportation investments
LOCATIONS (MANHATTAN, BROOKLYN)
3
4U.S. Department of Transportation
Vehicles Up to 8,000 fleet vehicles with Aftermarket Safety Devices (ASDs):
□ ~ 3000 Taxis (Yellow Cabs)□ ~ 700 MTA Buses□ ~ 3000 Sanitation & DOT and City fleet vehicles
Pedestrians□ Pedestrian PIDs
▪ Visually Impaired▪ 100 Subjects – PID
□ PED in Crosswalk▪ 10 Fully Instrumented Int.
Source: USDOT
Operating Statistics:Vehicles are in motion or active ~14 hours per day! Average taxi drives 197 miles per day
Fleet total Vehicle Miles Traveled: >1.3 Million Miles per day~40 Million Miles per month
CV STAKEHOLDER/USER DEPLOYMENT
4
5U.S. Department of Transportation
Vehicle-to-Vehicle (V2V) Safety Applications Vehicle Turning Right in Front of Bus Warning Forward Collision Warning Emergency Electronic Brake Light Blind Spot Warning Lane Change Warning/Assist Intersection Movement Assist
Vehicle-to-Infrastructure (V2I) Safety Applications□ Red Light Violation Warning Speed Compliance Curve Speed Compliance Speed Compliance/Work Zone Oversize Vehicle Compliance
□ Prohibited Facilities (Parkways)□ Over Height
Emergency Communications and Evacuation Information (Traveler
Safety Applications - 1
6U.S. Department of Transportation
Pedestrian
Mobile [Visually Impaired] Ped Signal System – navigation assistance Pedestrian in Signalized Intersection Warning – to vehicles
Traffic Management
CV Data for Intelligent Traffic Signal System
Operations, Maintenance, and Performance Analysis RF Monitoring OTA Firmware Update Parameter Up/Down Loading Traffic data collection Event History Recording Event History Up Load
To Evaluate the benefits
Roadway segment travel times
Additional Applications
7U.S. Department of Transportation
OVERALL PROJECT CONCEPT
Source: NYCDOT7
PED APP
4G
8U.S. Department of Transportation
Phase 1 Deliverables: Concept of Operations Security Management Operating Concept Safety Management Plan Performance Measurement Plan, System Requirements Application Deployment Plan Human Use Approval Summary, Training and Education Plan Partnership Status Summary, Outreach Plan Comprehensive Deployment Plan, Deployment Readiness Summary
Phase 2 –Design & Deployment
▪ Deployment of 100 Prototype ASD and 15 RSU
▪ Developing TMC software to support CV
▪ Working with a PED application developer – non DSRC
▪ Interoperability testing
▪ Preparing for production time
WHERE ARE WE NOW ?
9U.S. Department of Transportation
Installation Planning and Testing
Developing MAP message Content (USDOT) Planning RSU installation sites
□ Establishing Installation “partners” Developing vehicle installation kit designs
□ Working with vendors □ Working with Fleet owners□ Running samples – awaiting prototypes
10U.S. Department of Transportation
Vehicle Installation
• 35 Prototype Fleet vehicle installed• Testing through the glass and drilled mountings• Working with various different vehicle types
11U.S. Department of Transportation
Aftermarket Safety Device
Two terms□ Aftermarket Safety Device (ASD)□ On-Board Unit (OBU)
Includes: receiver and antenna□ GPS □ Dedicated Short-Range Communications (DSRC)
These devices:□ Determine time & vehicle location from GPS signal□ Broadcast the Basic Safety Message (BSM)
– Here I am (location & speed)– Where I’ve been (last few seconds-path history)– Where I’m heading
□ Listen for other nearby Vehicle’s BSMs □ Listen to Roadside Units (RSU) – traffic signal status & geometrics
▪ CV applications process messages from remote vehicles to identify potential threats
▪ CV applications process traffic signal status to identify possible intersection intrusion
▪ Alert the driver of the threat using a combination of audible tones and speech
Vendor 1: Danlaw V2X Aftermarket Safety Device
Vendor 2: Savari MobiWave V2X Aftermarket Safety Device
12U.S. Department of Transportation
Aftermarket Safety Device (Antennas)
Two types of antennas are being deployed. The Antenna installed depends on feasibility and any limitations on vehicle types/Makes/Models and any other aftermarket equipment currently installed such as (Comm Radios, Emergency light bars, etc)
Savari□ Hircshmann single casing 2 DSRC,
1 GNSS antenna (Requires roof drilling/access)
□ Mobile Mark single casing 2 DSRC, 1 GNSS antenna (Requires roof drilling/access)
Danlaw□ Danlaw through Glass Stub
Antenna 2 DSRC, 1 GNSS antenna
Hirschmann Antenna
MobileMark Antenna
Danlaw through the glass Stub Antenna
13U.S. Department of Transportation
NYC DOT Installations
• NYC DOT Installation• See Ford F-550 Light Duty Vehicle
Installation• Various Makes/Models/Year NYC
DOT vehicles are being equipped with prototype ASDs in order to fine tune and optimize installation methods and approaches
• NYC DOT Vehicles 770• Toyota
• Prius• RAV4
• Ford• Fusion• F-150 – F-550
• Chevrolet• Silverado• HD3500• Economy
14U.S. Department of Transportation
MTA Installation
• Progress made on installing 2 NYC Transit Buses
• Nova Bus LFS60102 60FT Articulator (2011)
• New Flyer T 60FT Articulator (2017)• The buses were installed to test RF
DSRC communication with light vehicles, and to develop an installation template
• MTA has committed 700 vehicles for the CV Project
15U.S. Department of Transportation
Taxi Installation
• Taxi Installations are estimated at 5000 vehicles between the participating fleet owners
• Curb and CMT, are 2 authorized technology installers for TLC that have been engaged in installing ASD equipment in their vehicles
• Taxi fleet is expected to include:• Toyota
• Prius• Sienna• RAV4
• Nissan NV 200
16U.S. Department of Transportation
DSNY Installation
DSNY have offered 170 participating vehicles• NYC CV Team is currently
surveying the vehicles for feasibility of installation and RF communication
• DSNY Vehicles include:• Light Duty supervisor
vehicles• Toyota• Ford• GM
• Heavy Duty Trucks• Granite Trucks• Mack Trucks
• Global Sweeper
17U.S. Department of Transportation
Cybersecurity Is Fundamental to CV Deployment
Message authentication (BSM, SPaT, MAP, TIM, etc.…) Data encryption of (To preserve privacy) Requires Equipment Certification
▪ RF technology (IEEE 802.11p, IEEE1609.x)▪ Message content – SAE J2735▪ BSM Performance – SAE J2945/1▪ Applications (& data accuracy)
Organizational IT security □ Physical security of the TMC systems□ Login and security practices
Protection for all connections and data exchanges CV Hardware Impact
□ Hardware Security Module (HSM) for the TMC system□ HSM inside the ASD/OBU and RSU
CV depends on a “trusted” environment - vehicles & infrastructure
18U.S. Department of Transportation
Security is a major Issue□ Each link is a secure
connection□ Each media has different
issues
Security System design addresses all of the links!
System Architecture: Security Everywhere
U.S. Department of Transportation 18
19U.S. Department of Transportation
Challenge – Scalable OTA Data Exchanges
Push (10 MB+) software updates to 8,000 vehicles efficiently over DSRC□ No WiFi and No LTE/4G
Developed Scheme to support broadcast updates□ ASD’s read WSA from Control Channel□ Directed to Service Channel if RSU supports Updates□ RSU broadcasts available updates
▪ Some updates broadcast (continuous) some available by unicast▪ Vehicles initiate update using unicast or monitor broadcast streams▪ Using licensed software to manage the efficient breakdown and assembly
▪ Efficient Channel Use▪ Privacy is maintained
20U.S. Department of Transportation
NYC CV Pilot Challenges: Communication between TMC and RSU
TMC
RSU
MAPs/TIMsVia
SNMPv3
ASDData logs
TLS1.2 Web
Socket
Data logsTLS 1.2
Challenges
• Securely Collect Data from Participant Vehicles
• Cope with Unreliable WAN Connection
• Establish Trust in Intersection MAP and TIMs
Solutions
• Secure TLS communication with added layer of end-to-end encryption of participant data
• Perform Edge-Computing on High-End RSU with Local Storage Capabilities
• End-to-end authentication via TMC Pre-signed J2735 MAP and TIM messages
21U.S. Department of Transportation
NYC CV Pilot Challenges: Overt-the-Air ASD Update (OTA)
Challenges
• 7000 vehicles have to stay updated
• Requires high rate
• OTA can be interrupted
• OTA must be secure
• Vehicles in other parts of the City can fall behind in updates
TMC
OTAUDP
RLNC802.11p
RSU
OTA Firmware
X.509 Certificates
TLS 1.2 Web
Socket
Solutions
• Dedicated RSU located in taxi hold lots
• Efficient and fast Random Linear Network Coding
• Firmware Updates are encrypted
• Download on-demand if ASD requires a specific version
22U.S. Department of Transportation
Challenge – Location Accuracy
Location Accuracy – □ Urban Canyons pose issues (both relative V2V and absolute V2I)
▪ Dropout at underpasses▪ Loss of GPS lock
□ ASD vendor demonstrated RSU triangulation□ Established Compound ASD requirements:
▪ Dead reckoning,
▪ Triangulation with static DSRC locations,
▪ Map matching,
▪ Tethered to the vehicle - vehicle interface
Testing has been promising !
23U.S. Department of Transportation23
How V2X-Locate Workspositioning software achieves sub-meter location positioning and is over 275% more accurate than comparable GNSS solutions
Vehicles are equipped with On-Board Units (OBU) that allow a vehicle to communicate with other vehicles, pedestrians, infrastructure and the cloud
Infrastructure is supported by Road Side Units (RSU) which are typically installed by road authorities or third parties
V2X-Locate uses ranging measurements to fixed RSUs to enable enhanced positioning accuracy
A signal transmitted over a wireless channel can suffer from a multipath effect which is a propagation phenomenon that results in radio signals reaching a receiver by more than one path
Multipath is typically due to signal reflection from objects in direct line-of-sight
The multipath effect is the main cause of GNSS degradation
Ranges from spatially separated RSUs are fed into enhanced V2X-Locate positioning engine to accurately position the vehicle
Through the advanced processing capabilities of The Software Defined Radio, the V2X-Locate solution is able to calculate a true line-of-sight path regardless of the existence of multipath signals
positioning engine determines the true line-of-sight path in the OBU allowing the vehicle to know it’s position
V2X-Locate fuses this with a state-of-the-art automotive grade GNSS module, achieving accuracy down to sub 1m compared to 2.5m with GNSS alone
On-Board Unit
V2X-LocateEngine
Road Side Unit
Multipath Reflection
s
Sensor Fusion
24U.S. Department of Transportation24
V2X-Locate ArchitectureWhile V2X-Locate is more accurate than traditional GNSS, it is not intended to replace GNSS, but instead integrate and compliment this technology
• V2X-Locate solution integrates vehicle sensors such as speed, yaw rate and Inertial Measurement Unit (IMU) output to improve the robustness and accuracy of the positioning solution
• V2X-Locate can seamlessly integrate with GNSS data if the solution believes the data to be quality
• However, enhanced signal processing and positioning algorithms can provide accurate vehicle position irrespective of GNSS availability or quality
• Outside of the V2X equipment already installed, V2X-Locate requires no additional hardware, simplifying deployment and system integrations
• V2X-Locate is capable of operating in all V2X and CAV operational scenarios including:
Underground tunnels Bus, tram and train yards Parking garages Urban canyons
V2X-Locate ArchitectureV2X-Locate Description
Vehicle Sensors
GNSSRSU Ranging Measuremen
ts
Sensor Fusion
25U.S. Department of Transportation
V2X-LOCATE
Only market valued positioning solution for GPS challenged environments such as:• Multilevel parking garages• Mountains• Tunnels• Forests• Urban canyons
EXPECTED PERFORMANCE<1m 95% of the time*
RSU Triangulation
V2X Locate uses
• standard RSUs and OBUs
• standard V2X over the air messages
to determine position of vehicle by ranging
RSU location known thanks to standard advertisements
Fuses vehicle sensors and GNSS when available.
* Based on recommended deployment set-up
26U.S. Department of Transportation
Product differentiator
• No additional HW vs conventional V2X City / Car OEM install
• Doesn’t require GNSS availability
• Demonstrated in very tough New York 6th Ave
• Results are
• Performance exceeds SAE J2945requirements (68% < 1.5m)
Percentile
Error
68 70cm
90 80cm
95 90cm
Percentile
Error
68 67cm
90 77cm
95 83cm
27U.S. Department of Transportation
Other Technical Challenges
Adjusting the applications for 25 MPH and Freeway speeds
CAN/J (vehicle) Bus Interface – □ Vendor resistance to providing necessary engineering
information □ Purchasing a gateway device
Many different vehicle types and model years □ Varied installation kits□ The Good part – they are fleets – we drill holes!
Verifying “platform” stability under all situations