New York City (NYC) Pilot Update at the System …...U.S. Department of Transportation 1 Mohamad...

1U.S. Department of Transportation

Mohamad Talas (NYCDOT, NYC CVPD Project Management Lead)

New York City (NYC) Pilot Update at the System Design Milestone


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


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


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


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


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


OVERALL PROJECT CONCEPT

Source: NYCDOT7

PED APP

4G


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 ?


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


Vehicle Installation

• 35 Prototype Fleet vehicle installed• Testing through the glass and drilled mountings• Working with various different vehicle types


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


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


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


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


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


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


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


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


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


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


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


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


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


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


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


Thank You

CVP.NYC

Mohamad Talas, P.E., PhD, [email protected]

mailto:[email protected]

New York City (NYC) Pilot Update at the System …...U.S. Department of Transportation 1 Mohamad...

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