Intelligent Vehicle SystemsSouthwest Research Institute

Connected Vehicles (CV): State-of-the-Art of Connected Vehicles

and Highlights of Deployments

1

Steven W. Dellenback, Ph.D.Executive Director R&D

Intelligent Systems

22

Presentation Overview• What is Connected Vehicle (CV) technology

• USDOT efforts: Safety Pilot

• State sponsored case studies / experiences:o New York State Dept of Transportation: New York Long Island

Expresswayo Texas Dept of Transportation: San Antonio Texas o Florida Dept of Transportation: Orlando Florida

• Future of Connected Vehicle

33

Connected Vehicle Technology(USDOT Led Nationwide Initiative)

• V2x:o Vehicle-to-vehicleo Vehicle-to-Infrastructureo Infrastructure-to-Vehicleo Vehicle-to-____ (bike, ped, etc.)

44

Connected Vehicle Technology EvolutionV2V, V2I, and/or V2X

USDOT Inititive 2001: VII Research Program 2009: VII -> IntelliDrive 2011: IntelliDrive ->

Connected Vehicle Initiative

DSRC or Not DSRC Safety vs. Other Spectrum Standards

Mature system standards, field tests, >10 years of industry involvement.

NHTSA “intent” to start “rule making” soon (safety related rules)

55

Connected Vehicle Messages: SAE J2735

• Messageso BasicSafetyMessageo CommonSafetyRequesto EmergencyVehicleAlerto IntersectionCollisionAvoidanceo MapDatao NMEACorrectionso ProbeDataManagemento ProbeVehicleDatao RoadSideAlerto RTCMCorrectionso SignalRequesto SignalStatusMessageo SPaTo TravelerInformation

66

Basic Safety Message (BSM)• One of many messages in the CV environment

• Part-I: required/38 byteso Vehicle TempID (changes every ~5 minutes)o Timestamp (milliseconds within the minute)o Position (latitude, longitude, elevation, accuracy)o Motion (speed, heading, steering wheel angle, 4-way acceleration)o Brakes (brakes applied, traction control, ABS, stability control,

brake boost, auxiliary brakes)o Vehicle Size (length, width)

• Pt-II: optional/variable size and rateo Path Historyo Path Predictiono Events (hazard lights, ABS, hard braking, wipers on, air bag

deployed, etc)

Note: above is illustrative – consult the standard for detailed information

77

Connected Vehicle HardwareIllustrative Only – many configurations possible

8/29/2014

Roadside Unit

On Board Unit (OBE)

User Interface

88

Use Cases – Several of Many

• Emergency Braking

• Blind Spot Warning

99

Use Cases – Several of Many

• Following Distance Warning

• Unsafe to Pass:

1010

Use Cases – Several of ManyV2I – Over height Detection/Notification

1111

Use Cases – Several of Many

• Emergency Vehicle Alert

1212

Use Cases – Several of Many

• V2V – Blind Spot Warning

1313

Future of Connected Vehicle….

• Technology has been “researched” and is ready to deploy

• V2V is “easier” because it does not require infrastructure – clear safety benefits (justifies the cost)

• V2I or I2V is “challenging” because of the infrastructure (and continuing maintenance) costs

• More and more “real world” demonstrations occuring

1414

Safety Pilot

1515

Safety Pilot Model Deployment Objectives

• Evaluate V2V and V2I operationally in a real world, concentrated environmento Safety Applicationso Security Operating Concept

• Gauge user acceptance

• Generate data to support estimates of safety system effectiveness

🏠

🏠

🏠🏠

🏠🏠

1616

Safety Pilot Model Deployment ScopeMaterial Courtesy of UMTRI

• 1-year deployment began August 21, 2012o 6-month extension approved through February 17, 2014o Continue to collect datao Approved as the sole source to “operate, maintain, and upgrade

Connected Vehicle Test Environment” until 2017

• 2,843 vehicles equippedo Passenger carso Truckso Buseso Motorcycleso (a) bike

• Stakeholder Utilization of the SPMD siteo Provide access to, and support for, use of the operating

environment by all stakeholders

1717

Safety ApplicationsMaterial Courtesy of UMTRI

• Forward Collision Warning (FCW)• Emergency Electronic Brake Light (EEBL)• Intersection Movement Assist (IMA)• Blind Spot Warning (BSW)• Do Not Pass Warning (DNPW)• Left Turn Across Path (LTAP)• Curve Speed Warning (CSW)• Transit Applications

o Right Turn in Front Warningo Pedestrian Detection

1818

Infrastructure InstallationsMaterial Courtesy of UMTRI

• 73 lane-miles of roadway instrumented with roadside-equipment installations

• Roadside Equipment at:o Partnership with MDOT and City of Ann Arboro 19 signalized intersections 2 SPaT enabled corridors, 6 signals per corridor

o 3 curveso 3 freeway sites

• Additional equipment installed at one intersection with radar-based pedestrian detection for transit application

1919

Data Set Collected To DateMaterial Courtesy of UMTRI

• More than….o 22 Tb of datao 4 million tripso 25 million mileso 900,000 hours of drivingo 70 billion basic safety messages

• Data being evaluated

• Data being used by NHTSA for V2x “decision” and “rule” making

2020

NY State DOT

2121

CVII Program: Background

• Concept developed in 2006 (national VII program)• Funded by I-95 Corridor Coalition• Integrate heavy vehicles w/past 5.9 GHz DSRC

research & development for passenger vehicles• Started contract May, 2009 (IntelliDrive)• 3 Year Schedule (Phase I & II)• $1.45 Million (1-95 CC)

2222

NYSDOT INFORM I-495 CVII Test Bed

22

2323

CVII Program: Requirements

• Complete system interoperability!

• Compliant with existing and emerging standards

• Communicate with any 5.9 GHz DSRC compliant vehicle or infrastructure

• Non-proprietary core system design capable of duplication/scalable!

• Integrate VII communications device w/SAE J1708 commercial vehicle databus using SAE J2735 & J1939

2424

CVII Program:Volvo Truck Interior with Driver Interface

2525

CVII ProgramWireless Roadside Inspection Operation

• Enhances existing screening information (weight, credentials, etc.) with driver and vehicle level data

• WRI requested by roadside device (RSE)• Vehicle sends data to RSE• Validated against network information

(NYS CVIEW/SAFER)• Results sent to driver & enforcement • Driver follows in-cab instructions based

on screening results (pull in/by pass)

• Inspections results sent to carrier, state and federal backhaul systems as appropriate

2626

CVII Program:Maintenance V2V Communications

• A moving maintenance vehicle (snow plow) broadcasts a heartbeat-like message (vehicle type, position & heading)

• Vehicles following the snow plow receive and display a warning to the driver about the snow plow operations ahead

• Also broadcasts work zone location warning

• 4 retrofitted maintenance plow trucks

2727

Light Vehicle to Heavy Vehicle (V2V) Driver Warnings

• Passenger vehicles/CV exchange heartbeat messages

• Warning scenarios:o Potential Blind Spot Warningso Hard Braking Events (multiple vehicles ahead)o Tailgate Warningo Unsafe to Pass/Unsafe to Merge

2828

Texas Dept of Transportation

2929

TxDOT: Connected Vehicle Demonstration

• San Antonio Demonstration Siteo Connection to TransGuide networkso Basic Traveler Information and Vehicle Data Collection (BSM)

3030

TxDOT: Connected Vehicle DemonstrationSigns in the Vehicle

• I-35 Demonstration Siteo Traveler Informationo DSRC and/or cellularo Connection to local TMCo Lonestar Integration

• Signs in the vehicle

• Over height detection

3131

TxDOT: Connected Vehicle DemonstrationOver Height Detection

• Shale oil “boom” causing a number of transportation issues due to lack of well qualified drivers

3232

TxDOT: Connected Vehicle DemonstrationWrong Way Driver (WWD) Detection

• San Antonio leads the nation in WWD (robust access/frontage roads compound the problem

• Deploying radar sensors along freeway to detect incursions• Looking how to use more advanced technology

3333

Florida Dept of Transportation

3434

Statewide Software Solution: SunGuide –Integrating CV into the ATMS

• CV demonstrations historically “stand alone”

3535

External Interfaces

• Direct connection to Orlando RSEs

o 25 installations near Conv. Center and along I-4

• Forward probe and Traveler Advisories

• Accomplished for ITS World Congress 2011

3636

On Board Equipment

• On-Board Equipment (OBE):

o Netbook

o DSRC radio

o GPS

o CAN connector

• Vehicle Awareness Device• Message types

o Basic Safety Messageo Probe Vehicle Data Messageo Traveler Advisory Message

3737

SunGuide RSE Configuration

• Dynamic configuration of RSEs

o Add, modify, delete without restarting

• Update multiple devices at a time

• Configure detectionzones

o Geographicbounding area

o Heading limits

3838

Traffic Speed Monitoring

• BSM and Probe messages generate traffic speed info for TSS links

• Standard SunGuide TSS functionality available

• Additional CV linkinformation

o Most severe linkby RSE

o TAMs by RSE

3939

Traveler Advisory Messages

• Manually created and issued by operators, or• Automatically generated by event response plans

o Administrator defined message formato Automatic

presentation regionalong roadway

• Supports multiplepresentation regions

Intelligent Vehicle SystemsSouthwest Research Institute

40

Thank You

Steve Dellenbacksdellenback@swri.org+1.210.522.3914

Intelligent Vehicle SystemsSouthwest Research Institute

Autonomous Vehicles –State of the Art and

Current Limitations of Off-road and On-road Autonomous Vehicles

41

Steven W. Dellenback, Ph.D.Executive Director R&D

Intelligent Systems

4242

Automated Vehicle Technology

• Basic question:o What is the PURPOSE of a driverless vehicle?

• Possible answers:o Ultimate solution to the driver distraction problemo Should reduce accidents (although until a significant penetration

the overall effect is questionable)o Should enable a reduction in traffic fatalitieso Make transportation systems much more efficient (more vehicles in

the same space)

• Sustainability of the technology (at what functional level) – consider driving levels model – expected duration of autonomy:o 5 secondso 30 seconds to 1 minuteo > 1 hour

4343

Automated Vehicle Technology EvolutionSelf-driving, UGV, Driverless, Autonomous, Automated, etc…

NHTSA Levels of Automation• No-Automation (Level 0)• Function-specific Automation (Level 1)• Combined Function Automation (Level 2)• Limited Self-Driving Automation (Level 3)• Full Self-Driving Automation (Level 4)

Automated/Autonomous First RC vehicles used in 1930s FHWA’s Automated Highway

System in the 1990s, and demo in 1997.

DARPA Urban Challenge (on-road automated driving) in 2007.

Demonstration on the streets of Manhattan, NYC at the 2008 World Congress

U.S. DoD Investment Google’s Demos/Efforts Aggressive Marketing

Campaigns leading to announcements by OEMs of their plans for production.

4444

NHTSA / SAE Driving Levels

• Descriptive

• Minimum levels

• Compare to:o Germany

Federal Highway Research Institute (BASt)

o NHTSA

Source: SAE

Semi-Autonomous Driving – available TODAY

4545

Who is Developing Autonomous Vehicle Capabilities(list may incomplete because information is not openly shared)

• US OEMs:• GM• Ford• Tesla

• European:• Mercedes• BMW• Audi• Volvo• Renault• Scania (trucks)• Jaguar Landrover• Deihl• RUAG• Rheinmetall Defence

• US non-OEMs:• Lockheed Martin• Southwest Research Institute (SwRI)• Smaller Defense Contractors:

• TORC, GDRS, ASI, etc.• University Research

• CMU, Stanford. Virginia Tech• California PATH, VTTI

• Google• Government (non DoD)

• US:• Human Factors for Vehicle Highway

Automation• USDOT Automation Program

• European Union:• CitiMobil and CyberCars• Safe Road Trains for the Environment

(SARTE)• Energy ITS Project (Japan)

• Japan:• Nissan• Honda• Toyota• Hino• Isuzu

• Tier 1 Suppliers:• Bosch• Continental• Delphi

4646

State of the Practice (commercial): Google

• Conso Expensive sensor suiteo Must pre-drive routeo Requires high precision map

databaseo For the U.S. - only 3,200 km of the

6.4M kms of highway “mapped”

• Proso Well fundedo Previously only freeway,

adding arterial capability

Source: Google

Source: Google

4747

State of the Practice (military): AMAS (LM)

• Autonomous Mobility Appliqué System (AMAS)• Portable Autonomy:

o A-kit (autonomy)o B-kit (vehicle interface)o C-kit (payload)

Source: Lockheed Martin

4848

State of the Practice (military):(mules and support tools)

• Dismounted Solider Autonomy Tools (DSAT)o Passive and active sensor

technologyo Supports 3 unique platforms

• Squad Mission Support System (SSMS)o Active sensor technologyo Carry loads over difficult terrain

Source: Lockheed Martin

4949

Army: ATEC Tested and Deployed System

49

5050

State of the Practice (agricultural/mining):John Deere / Komatsu

• Komatsuo Fixed routeo Very dirty conditions

• Deereo Agricultureo Constrained environment

Source: John Deere

Source: Komatsu

5151

Work Zone Safety: Automated Attenuator Truck

• Pilot Texas DOT Projecto Moving work convoys: Linear spacing Lateral offsets

o Static: reposition with hand signals

5252

Possible Applications: Transit

• Dedicated lanes (would allow early deployment of fully automated)

• Lane keeping assistance

• Precision bus docking

• Platoons

5353

Switch the Focus

• Lots of press and widely spread articles about on-road projects….

• Domains other than passenger vehicles have experienced success:o Agricultureo Miningo Military

• Common thread in these areas include:o Constrained environments o Can accept some level of “collateral damage” (with no legal

implications)

• However, we keep hearing “they will be here in 2017 (or 2020”)….

5454

Automated Vehicles Forecast (AVS14)Data courtesy of AVS14 (held in California, July 2014)

• What do the industry professionals think (as opposed the media looking for an interesting story or a self-serving company promotion):

• At industry event in California in July 2014 some polling was done:• ~250 responses, 80% MS+ degree• 64% EE/ME/CS/HF, 24% CE• 31% Univ/Research Inst, 24% Auto Ind, 17% Govt• 80% US, 44% CA and MI

• Results were insightful….

5555

Automated Vehicles Forecast (AVS14)Data courtesy of AVS14 (held in California, July 2014)

• Top 3 barriers: 1. Legal2. Regulations3. Cost

• Equal number rated Technology highest and lowest

• Level of safety compared to today• 56%: as-safe to 2x• 36%: 10x to perfect safety

• 73%: Society will accept some automation-caused accidents

• 46%/54%: Level 3 practical/not practical (driver expected to respond)

• 67%: V2V essential for Level 5

5656

Automated Vehicles Forecast (AVS14)Data courtesy of AVS14 (held in California, July 2014)

Predictions – when will we see the technology• Freeway Driving, Level3 2019• Freeway Driving, Level 4 2020• Truck Platooning 2020• Level 4 Door to door 2025• Level 5 2030

5757

Automated Vehicles Forecast (AVS14)Data courtesy of AVS14 (held in California, July 2014)

When do you expect to be able to trust a fully automated taxi to take YOUR elementary school-age child or grandchild to their school (with no licensed driver onboard)?

5858

What do the Experts (collectively) Say?Data courtesy of AVS14 (held in California, July 2014)

5959

Economic Driver: What Would People Pay…

• Surveys or economists suggest (~$3,000):

o Sources: Economist Technology Quarterly (2012) Look, No Hands.

September 1 issue: 17-19.http://www.economist.com/node/21560989

J.D. Powers: http://www.jdpower.com/content/press-release/xOOFcYK/2013-u-s-automotive-emerging-technologies-study.htm

• Today’s cost of hardware on ‘operational vehicles’: o $110K to $280Ko Mass production should help lower this number but how much?

6060

Punchline: Perception/Behaviors are Challenging

• “Deer in the headlights”

• “Realistic” drivingo June 2014 in DCo Taxi “strike”o How to “nose” into traffic

6161

Looking out to the Horizon: What is Next?,

• Next 3 to 20 years:o Don’t expect to see automated vehicles regularly used on public roadso Military operations can accept collateral damageo Closed operations (such as mining, agriculture) have less unpredictability: No teenage drivers Limited obstacles Very well known environment (that does not change much) Possible areas:

• Ports / freight yards• Retirement communities

o Potential game changed: dedicated transit or truck or “technology lanes

• Need “connected” to get “automated”

• Holy grails:o Perception (sensors)o Costo “Use of technology”: generational (millennials may be more accepting)

Intelligent Vehicle SystemsSouthwest Research Institute

62

Thank You

Steve Dellenbacksdellenback@swri.org+1.210.522.3914