Intelligent Vehicle Systems - ITS Alaska Alaska - CV and AV Overview.pdf · Intelligent Vehicle...
Transcript of Intelligent Vehicle Systems - ITS Alaska Alaska - CV and AV Overview.pdf · Intelligent Vehicle...
Intelligent Vehicle SystemsSouthwest Research Institute
Connected Vehicles (CV): State-of-the-Art of Connected Vehicles
and Highlights of Deployments
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Steven W. Dellenback, Ph.D.Executive Director R&D
Intelligent Systems
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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
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Connected Vehicle Technology(USDOT Led Nationwide Initiative)
• V2x:o Vehicle-to-vehicleo Vehicle-to-Infrastructureo Infrastructure-to-Vehicleo Vehicle-to-____ (bike, ped, etc.)
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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)
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Connected Vehicle Messages: SAE J2735
• Messageso BasicSafetyMessageo CommonSafetyRequesto EmergencyVehicleAlerto IntersectionCollisionAvoidanceo MapDatao NMEACorrectionso ProbeDataManagemento ProbeVehicleDatao RoadSideAlerto RTCMCorrectionso SignalRequesto SignalStatusMessageo SPaTo TravelerInformation
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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
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Connected Vehicle HardwareIllustrative Only – many configurations possible
8/29/2014
Roadside Unit
On Board Unit (OBE)
User Interface
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Use Cases – Several of Many
• Emergency Braking
• Blind Spot Warning
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Use Cases – Several of Many
• Following Distance Warning
• Unsafe to Pass:
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Use Cases – Several of ManyV2I – Over height Detection/Notification
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Use Cases – Several of Many
• Emergency Vehicle Alert
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Use Cases – Several of Many
• V2V – Blind Spot Warning
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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
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Safety Pilot
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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
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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
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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
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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
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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
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NY State DOT
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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)
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NYSDOT INFORM I-495 CVII Test Bed
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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
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CVII Program:Volvo Truck Interior with Driver Interface
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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
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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
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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
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Texas Dept of Transportation
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TxDOT: Connected Vehicle Demonstration
• San Antonio Demonstration Siteo Connection to TransGuide networkso Basic Traveler Information and Vehicle Data Collection (BSM)
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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
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TxDOT: Connected Vehicle DemonstrationOver Height Detection
• Shale oil “boom” causing a number of transportation issues due to lack of well qualified drivers
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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
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Florida Dept of Transportation
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Statewide Software Solution: SunGuide –Integrating CV into the ATMS
• CV demonstrations historically “stand alone”
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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
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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
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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
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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
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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
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Thank You
Steve [email protected]+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
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Steven W. Dellenback, Ph.D.Executive Director R&D
Intelligent Systems
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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
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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.
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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
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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
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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
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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
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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
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Army: ATEC Tested and Deployed System
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State of the Practice (agricultural/mining):John Deere / Komatsu
• Komatsuo Fixed routeo Very dirty conditions
• Deereo Agricultureo Constrained environment
Source: John Deere
Source: Komatsu
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Work Zone Safety: Automated Attenuator Truck
• Pilot Texas DOT Projecto Moving work convoys: Linear spacing Lateral offsets
o Static: reposition with hand signals
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Possible Applications: Transit
• Dedicated lanes (would allow early deployment of fully automated)
• Lane keeping assistance
• Precision bus docking
• Platoons
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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”)….
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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….
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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
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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
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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)?
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What do the Experts (collectively) Say?Data courtesy of AVS14 (held in California, July 2014)
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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?
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Punchline: Perception/Behaviors are Challenging
• “Deer in the headlights”
• “Realistic” drivingo June 2014 in DCo Taxi “strike”o How to “nose” into traffic
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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
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Thank You
Steve [email protected]+1.210.522.3914