Vehicle Safety Communications Project Executive Overview November 4, 2003 Vehicle Safety...

Vehicle Safety Communications ProjectVehicle Safety Communications ProjectExecutive OverviewExecutive Overview

November 4, 2003November 4, 2003

Vehicle Safety Communications ConsortiumCAMP

IVI Light Vehicle Enabling Research Program

Vehicle Safety Communications ConsortiumCAMP

IVI Light Vehicle Enabling Research Program

22November 4, 2003November 4, 2003 Vehicle Safety Communications ConsortiumVehicle Safety Communications Consortium

Briefing Agenda

10:00 – 11:0010:00 – 11:00 Executive Overview (F. Ahmed-Zaid, G. Peredo)Executive Overview (F. Ahmed-Zaid, G. Peredo)

Task 4:Task 4: Refinement of Vehicle Safety Applications Refinement of Vehicle Safety Applications11:15 – 11:35 11:15 – 11:35 - Overview (H. Krishnan)- Overview (H. Krishnan)11:35 – 12:00 11:35 – 12:00 - Field Testing (J. Bauer)- Field Testing (J. Bauer)12:00 – 1:0012:00 – 1:00 LunchLunch

Task 4:Task 4: (continued) (continued) 1:00 – 1:251:00 – 1:25 - Field Testing (E. Clark)- Field Testing (E. Clark) 1:25 – 1:451:25 – 1:45 - Simulation Testing (D. Jiang)- Simulation Testing (D. Jiang) 1:45 – 2:001:45 – 2:00 Task 5:Task 5: Participate in and Coordinate with DSRC Participate in and Coordinate with DSRC

Standards Committees and Groups (T. Schaffnit)Standards Committees and Groups (T. Schaffnit) 2:00 – 2:452:00 – 2:45 Task 6:Task 6: Test and Validation of DSRC Capabilities Test and Validation of DSRC Capabilities

- Subproject 6A: Protocol Research (D. Jiang)- Subproject 6A: Protocol Research (D. Jiang)

- Subproject 6B: Security (E. Clark)- Subproject 6B: Security (E. Clark)

- Subproject 6C: Antenna (S. Tengler)- Subproject 6C: Antenna (S. Tengler)


VSC Project

Two-year program began May 2002Two-year program began May 2002 VSC Consortium Members: BMW, DaimlerChrysler, Ford, VSC Consortium Members: BMW, DaimlerChrysler, Ford,

GM, Nissan, Toyota, and VWGM, Nissan, Toyota, and VW Facilitate the advancement of vehicle safety through Facilitate the advancement of vehicle safety through

communication technologiescommunication technologies Identify and evaluate the safety benefits of vehicle safety Identify and evaluate the safety benefits of vehicle safety

applications enabled or enhanced by communications applications enabled or enhanced by communications Assess communication requirements, including vehicle-vehicle Assess communication requirements, including vehicle-vehicle

and vehicle-infrastructure modesand vehicle-infrastructure modes Contribute to DSRC standards and ensure they effectively support Contribute to DSRC standards and ensure they effectively support

safetysafety


VSC Project Tasks

Task 1 - Literature ReviewTask 1 - Literature Review

Task 2 - Analyze the DSRC Standards Development ProcessTask 2 - Analyze the DSRC Standards Development Process

Task 3 - Identify Intelligent Vehicle Safety Applications Enabled Task 3 - Identify Intelligent Vehicle Safety Applications Enabled by DSRC by DSRC

Task 4 - Refine Vehicle Safety Application Communications Task 4 - Refine Vehicle Safety Application Communications Requirements Requirements

Task 5 - Participate in and Coordinate with DSRC Standards Task 5 - Participate in and Coordinate with DSRC Standards Committees and Groups Committees and Groups

Task 6 - Test and Validate DSRC CapabilitiesTask 6 - Test and Validate DSRC Capabilities

Task 7 - SummaryTask 7 - Summary

Task 8 - Program ManagementTask 8 - Program Management


Completed Tasks 1, 2 & 3

Task 1:Task 1: Reviewed available published DOT and OEM literature for Reviewed available published DOT and OEM literature for

communications-based vehicle safety applicationscommunications-based vehicle safety applications Task 2:Task 2:

Prepared roadmap of anticipated DSRC standards Prepared roadmap of anticipated DSRC standards (roadmap is updated in Task 5)(roadmap is updated in Task 5)

Provided DOT with synchronized VSC project timelineProvided DOT with synchronized VSC project timeline Task 3:Task 3:

Identified communications-based vehicle safety applicationsIdentified communications-based vehicle safety applications Selected high potential benefit applications for further Selected high potential benefit applications for further

researchresearch


Safety ApplicationsCommunications Between Vehicles

Approaching Emergency Vehicle Warning Blind Spot Warning Cooperative Adaptive Cruise Control Cooperative Collision Warning Cooperative Forward Collision Warning Cooperative Vehicle-Highway Automation System Emergency Electronic Brake Lights Highway Merge Assistant Lane Change Warning Post-Crash Warning Pre-Crash Sensing Vehicle-Based Road Condition Warning Vehicle-to-Vehicle Road Feature Notification Visibility Enhancer Wrong Way Driver Warning

Communications Between Vehicle and Infrastructure

Blind Merge Warning Curve Speed Warning – Rollover Warning Emergency Vehicle Signal Preemption Highway/Rail Collision Warning Intersection Collision Warning In Vehicle Amber Alert In-Vehicle Signage Just-In-Time Repair Notification Left Turn Assistant Low Bridge Warning Low Parking Structure Warning Pedestrian Crossing Information at Intersection Road Condition Warning Safety Recall Notice SOS Services Stop Sign Movement Assistance Stop Sign Violation Warning Traffic Signal Violation Warning Work Zone Warning


Highest Ranking Safety Applications

Benefit opportunity 5th year after deploymentBenefit opportunity 5th year after deployment 17M new vehicles/year equipped (of 210M total)17M new vehicles/year equipped (of 210M total) Effectiveness derived from “44 Crashes”Effectiveness derived from “44 Crashes”

Near Term (2007 – 2011)Near Term (2007 – 2011)

Mid Term (2012 – 2016)Mid Term (2012 – 2016)


Basic Communications Requirements

Defined communications parameters that include:Defined communications parameters that include: Types of Communications (one-way, two-way, point-to-point, Types of Communications (one-way, two-way, point-to-point,

point-to-multipoint)point-to-multipoint) Transmission Mode (event-driven, periodic)Transmission Mode (event-driven, periodic) Update Rate Update Rate Allowable Latency (communication delay) Allowable Latency (communication delay) Data to be Transmitted and/or Received (message content) Data to be Transmitted and/or Received (message content) Required Range of CommunicationRequired Range of Communication

Specified communications parameters based on Specified communications parameters based on engineering judgment and industry experienceengineering judgment and industry experience


Preliminary Communications Requirements for High-Priority Application Scenarios

Traffic Signal Traffic Signal Violation Violation Warning Warning

Curve Speed Curve Speed Warning Warning

Emergency Emergency Electronic Electronic Brake Lights Brake Lights

Pre-Crash Pre-Crash Warning Warning

Cooperative Cooperative Forward Forward Collision Collision Warning Warning

Left Turn Left Turn Assistant Assistant

Lane Lane Change Change Warning Warning

Stop Sign Stop Sign Movement Movement Assistance Assistance

Types of Communication

one-way, point-

multipoint

one-way, point-

multipoint

one-way, point-

multipoint

two-way, point-point

one-way, point-

multipoint

one-way, point-

multipoint

one-way, point-

multipoint

one-way, point-

multipoint

Transmission Transmission Mode Mode

periodic periodic event-driven event-driven periodic periodic periodic periodic

Update Rate Update Rate (Hz)(Hz)

10 1 10 50 10 10 10 10

Allowable Allowable LatencyLatency

(milliseconds)(milliseconds)

100 1000 100 20 100 100 100 100

Data to be Transmitted and/or Received (bytes)

528 I-V 381 I-V 288 V-V 435 V-V once

283 V-V repeat

419 V-V 840 I-V,

(208 V-I)

288 V-V 416 I-V,

(208 V-I)

Required Range of Communication (meters)

250 200 300 50 150 300 150 300


Comparison of Wireless Technologies

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Range 1000 m ~4-6 km 10 m ~40 km 120 km 1000 m300-400

km2 km 30 m

US 48 states

30-50 km

NA15-30 m

?One-way to vehicle X X ? X X X X XOne-way from vehicle X ? X ?Two-way X X X ? X XPoint-to-point X X X ? X X XPoint-to-multipoint X X ? X X X X ?

Latency200

micro sec

1.5-3.5 sec

3-4 sec10-30 sec

? 3-5 sec NA NA NA10-20 sec

10-20 sec

60+ sec ?

Wireless Technologies

Cap

abili

ties


Task 3 Summary

For high potential benefit safety applicationsFor high potential benefit safety applications Defined system level concepts of operationDefined system level concepts of operation Refined communications requirementsRefined communications requirements

DSRC appears to have the potential to support safety DSRC appears to have the potential to support safety communications requirementscommunications requirements Low latency (50-100 ms)Low latency (50-100 ms) Transmission of broadcast messagesTransmission of broadcast messages Adequate range (up to 300 m)Adequate range (up to 300 m) Adequate data rate (up to 27 Mbps)Adequate data rate (up to 27 Mbps)

Latency requirements for safety applications do not Latency requirements for safety applications do not appear to be achievable with other available wireless appear to be achievable with other available wireless communications technologiescommunications technologies


Task 4 - Refinement of Vehicle Safety Communications Requirements

Designed and assembled 20 communications test kits Designed and assembled 20 communications test kits (including DGPS units) for VSC field testing(including DGPS units) for VSC field testing

Developed data collection software and analysis tools Developed data collection software and analysis tools (now at v2.7) to conduct tests(now at v2.7) to conduct tests

Developed test plan with representative test scenariosDeveloped test plan with representative test scenarios Conducted field testing on test track and public roadwaysConducted field testing on test track and public roadways Analyzed data from field testingAnalyzed data from field testing Developed simulation test tool for DSRC protocol Developed simulation test tool for DSRC protocol

investigationsinvestigations


Test Equipment

VSC VSC Communication Communication Test Kits (CTKs)Test Kits (CTKs)

Laptops with Laptops with 802.11a card802.11a card

DGPS receiversDGPS receivers Magmount DSRC Magmount DSRC

and DGPS and DGPS antennasantennas

Portable Portable implementationimplementation


Test Kit vs. DSRC Standard

CTK S/W v2.3CTK S/W v2.3 CTK S/W v2.7CTK S/W v2.7 DSRC StandardDSRC Standard

25/50 mW default 25/50 mW default antenna input power antenna input power settingssettings

Up to 100 mW Up to 100 mW programmable programmable antenna input powerantenna input power

Up to 750 mW variable Up to 750 mW variable antenna input powerantenna input power

5.15-5.35, 5.725-5.825 5.15-5.35, 5.725-5.825 GHzGHz

5.15-5.35, 5.725-5.15-5.35, 5.725-5.825, 5.85-5.925 GHz5.825, 5.85-5.925 GHz 5.85-5.925 GHz5.85-5.925 GHz

Auto channel selectAuto channel select Selectable channelSelectable channel Channel switchingChannel switching

20 MHz channel20 MHz channel 10 MHz channel10 MHz channel 10 MHz channel10 MHz channel

IEEE 802.11 ad hocIEEE 802.11 ad hoc DSRC ad hocDSRC ad hoc DSRC ad hocDSRC ad hoc

6-54 Mbps6-54 Mbps 3-27 Mbps3-27 Mbps 3-27 Mbps3-27 Mbps


Test Scenarios

ffv2

x

y

z

dy1

dx1(RSU)

One Dynamic Antenna (OBU)One Static Antenna (RSU)

Scenario 1Scenario 1

v1v2

dy1

dx1


Two Dynamic Antennas (OBU’s)

x

y

z

v2v1

dy1

dx1


Two Static Antennas

dX1

x

y

z

v3

v1

dY2

dX2

dY1

v2

Scenario 4Scenario 4Multiple Sending Antennas

Sender Receiver ObstructerLegend:


Test Plan Structure

RESULTS

AP

#1

AP

#2

AP

#3

AP

#4

AP

#5

AP

#6

AP

#7

AP

#8

TP

#1

TP

#2

TP

#3

TP

#4

EE

#1

EE

#2

EE

#3

EE

#4

Tri

al 1

Tri

al 2

Tri

al 3

Summary File Name

ENVIRONMENTAL EFFECTS

TECHNICAL PARAMETERS

DATA FILES

RELEVANCE TO 8 HIGH-PRIORITY APPLICATIONS

Scenario 4

(Task 6 Only)

Scenario 3

Scenario 2

Scenario 1

Tom Schaffnit

Farid to put in high level matrix format


Actual Road TestingTest Track

Public Roads

Controlled environment Controlled environment testing: Test trackstesting: Test tracks

Real Traffic Conditions: Real Traffic Conditions: Highways, rural, arterial, and Highways, rural, arterial, and residential roads in the Palo residential roads in the Palo Alto and Detroit areas Alto and Detroit areas

(various traffic densities, (various traffic densities, curves, hills, bridges, etc.)curves, hills, bridges, etc.)


Freeway Testing:Example

Receiver lane change

PU Truck obstruction

SUV & sedans obstruction

SUV obstructionDense Traffic Large Truck obstruction

GPS outages under overpasses

Video Clips

Received Packets

Lost Packets

Range (m)

Graph Legend:

AccumulatedReceived Packets

sender

Tom Schaffnit

Farid to fix


Moving Vehicle Testing: Example Sender and receiver vehicles pass each other at 50 mphSender and receiver vehicles pass each other at 50 mph 400-bytes message size, every ~ 50 msec (stress configuration)400-bytes message size, every ~ 50 msec (stress configuration) No packet lossNo packet loss

x

y

z

v1

v2

dy1

dx1

Receiver

Sender


Simulation Testing

Used simulation test environment to investigate Used simulation test environment to investigate vehicle scenarios too large for real world testingvehicle scenarios too large for real world testing

Initial investigations centered on determining the Initial investigations centered on determining the effectiveness of proposed IEEE 802.11 priority effectiveness of proposed IEEE 802.11 priority mechanisms for vehicle safetymechanisms for vehicle safety Early results indicate priority mechanism works well to Early results indicate priority mechanism works well to

get safety messages transmitted consistently before get safety messages transmitted consistently before lower priority messageslower priority messages

Significant difference with/without priorities evident in Significant difference with/without priorities evident in the more stressing simulation runsthe more stressing simulation runs


Field Testing Observations

Line of sight, single transmitter-receiver communication is Line of sight, single transmitter-receiver communication is robust for a variety of vehicle-vehicle and vehicle robust for a variety of vehicle-vehicle and vehicle infrastructure safety applicationsinfrastructure safety applications Range (300m), update rate (10-20 Hz), and latency requirements Range (300m), update rate (10-20 Hz), and latency requirements

(50-100 ms) of Task 3 safety applications were met in preliminary (50-100 ms) of Task 3 safety applications were met in preliminary teststests

Better than expected performance with SUV/Van obstructionsBetter than expected performance with SUV/Van obstructions Degraded performance, as expected, under obstructions from Degraded performance, as expected, under obstructions from

large trucks and buildings/terrain. More testing and analysis is large trucks and buildings/terrain. More testing and analysis is requiredrequired

Areas for future study include transmission power Areas for future study include transmission power variation, and multi-sender, multi-receiver scenariosvariation, and multi-sender, multi-receiver scenarios


Outline

VSC Project Background, Project Tasks & VSC Project Background, Project Tasks & DeliverablesDeliverables

Tasks 1, 2, 3 and 4 Progress and FindingsTasks 1, 2, 3 and 4 Progress and Findings Tasks 5 and 6 Progress and FindingsTasks 5 and 6 Progress and Findings Summary and Next StepsSummary and Next Steps


Task 5 - Participate in and Coordinate with DSRC Standards Committees

Lower layer DSRC standard - ASTM to IEEE 802.11Lower layer DSRC standard - ASTM to IEEE 802.11 Benefit – IEEE 802.11 credibility and acceptanceBenefit – IEEE 802.11 credibility and acceptance Issue – potential for delayed approval (possibly 2005)Issue – potential for delayed approval (possibly 2005) FCC rulemaking currently follows precursor ASTM standard, but FCC rulemaking currently follows precursor ASTM standard, but

may cause delay if IEEE changes necessitate revisionmay cause delay if IEEE changes necessitate revision Upper layer DSRC standards being developed in another Upper layer DSRC standards being developed in another

IEEE committeeIEEE committee DSRC security standard development in another IEEE DSRC security standard development in another IEEE

committeecommittee VSCC actively participating in these DSRC standards VSCC actively participating in these DSRC standards

development activitiesdevelopment activities


Additional DSRC Standards Progress

VSCC provided information to new Alliance of Automobile VSCC provided information to new Alliance of Automobile Manufacturers (AAM) working groupManufacturers (AAM) working group AAM defining DSRC standard vehicle message setAAM defining DSRC standard vehicle message set Intended for SAE vehicle safety messaging standardIntended for SAE vehicle safety messaging standard

SAE formed new committee to develop message set and SAE formed new committee to develop message set and data dictionary standard for DSRC (first meeting 12/03)data dictionary standard for DSRC (first meeting 12/03)

VSCC plans to participate in this SAE standards VSCC plans to participate in this SAE standards development activitydevelopment activity


Task 6A - Protocol Research Subproject

Develops informed VSC recommendations to create Develops informed VSC recommendations to create efficient, robust, and reliable communications protocolefficient, robust, and reliable communications protocol

Focuses on how to improve broadcast reliability in various Focuses on how to improve broadcast reliability in various traffic conditionstraffic conditions

StatusStatus Test kit enhanced for collecting received signal strength dataTest kit enhanced for collecting received signal strength data Initial enhancement of DSRC simulator ready and in useInitial enhancement of DSRC simulator ready and in use Mathematical framework under discussionMathematical framework under discussion Simulation tests for various broadcast reliability enhancements in Simulation tests for various broadcast reliability enhancements in

development development


Task 6B - Security Subproject

Addressing greater security consequences for Addressing greater security consequences for vehicle safety communicationsvehicle safety communications

Participating in IEEE P1556 working group Participating in IEEE P1556 working group meetingsmeetings VSCC leading security for safety applicationsVSCC leading security for safety applications

Created vehicle safety communications threat Created vehicle safety communications threat model and outline of security services model and outline of security services

Defining security solution constraints Defining security solution constraints Starting description of security architecture and Starting description of security architecture and

protocolprotocol


Task 6C - Antenna Subproject

Developing optimized antennas for DSRCDeveloping optimized antennas for DSRC Determine antenna performance and placement Determine antenna performance and placement

requirements per lower layer standards and OEM requirements per lower layer standards and OEM guidanceguidance

Design and characterize antenna variants optimized for Design and characterize antenna variants optimized for 5.9 GHz DSRC5.9 GHz DSRC

Build reference antennas for DSRC researchBuild reference antennas for DSRC research Supplier selected, now developing candidate designsSupplier selected, now developing candidate designs Target March ’04 completionTarget March ’04 completion


Outline

VSC Project Background, Project Tasks & VSC Project Background, Project Tasks & DeliverablesDeliverables

Tasks 1, 2, 3 and 4 Progress and FindingsTasks 1, 2, 3 and 4 Progress and Findings Tasks 5 and 6 Progress and FindingsTasks 5 and 6 Progress and Findings Summary and Next StepsSummary and Next Steps


Summary VSCC is encouraged by the testing to date VSCC is encouraged by the testing to date Initial tests indicate that DSRC can perform well in most of Initial tests indicate that DSRC can perform well in most of

the conditions examined in the current testing:the conditions examined in the current testing: The expected degradation from large vehicles, structures, and The expected degradation from large vehicles, structures, and

terrain obstructions was observed in some cases. It is not terrain obstructions was observed in some cases. It is not expected this will have a severe impact on safety applicationsexpected this will have a severe impact on safety applications

More testing and research is planned to examine additional More testing and research is planned to examine additional conditionsconditions

Simulation testing is underwaySimulation testing is underway The transition to the IEEE lower layer standard has The transition to the IEEE lower layer standard has

benefits, but also some risksbenefits, but also some risks The VSC project continues to have a positive impact on The VSC project continues to have a positive impact on

the focus and progress of DSRC standards developmentthe focus and progress of DSRC standards development


Next Steps Continue Continue field testingfield testing to complete defined test scenarios to complete defined test scenarios

and validate/refine communications requirements and validate/refine communications requirements

Continue Continue simulation testingsimulation testing to understand and refine to understand and refine communication mechanisms in dense traffic environmentscommunication mechanisms in dense traffic environments

Continue active Continue active standards participationstandards participation to ensure to ensure developing standards effectively support safety developing standards effectively support safety

Design candidate Design candidate security architecture and protocolsecurity architecture and protocol to to address threat model and constraintsaddress threat model and constraints

Develop optimized DSRC vehicle Develop optimized DSRC vehicle antennaantenna reference reference designsdesigns


10:00 – 11:0010:00 – 11:00 Executive Overview (F. Ahmed-Zaid, G. Peredo)Executive Overview (F. Ahmed-Zaid, G. Peredo)

Task 4:Task 4: Refinement of Vehicle Safety Applications Refinement of Vehicle Safety Applications11:15 – 11:35 11:15 – 11:35 - Overview (H. Krishnan)- Overview (H. Krishnan)11:35 – 12:00 11:35 – 12:00 - Field Testing (J. Bauer)- Field Testing (J. Bauer)12:00 – 1:0012:00 – 1:00 LunchLunch

Task 4:Task 4: (continued) (continued) 1:00 – 1:251:00 – 1:25 - Field Testing (E. Clark)- Field Testing (E. Clark) 1:25 – 1:451:25 – 1:45 - Simulation Testing (D. Jiang)- Simulation Testing (D. Jiang) 1:45 – 2:001:45 – 2:00 Task 5:Task 5: Participate in and Coordinate with DSRC Participate in and Coordinate with DSRC

Standards Committees and Groups (T. Schaffnit)Standards Committees and Groups (T. Schaffnit) 2:00 – 2:452:00 – 2:45 Task 6:Task 6: Test and Validation of DSRC Capabilities Test and Validation of DSRC Capabilities

- Subproject 6A: Protocol Research (D. Jiang)- Subproject 6A: Protocol Research (D. Jiang)

- Subproject 6B: Security (E. Clark)- Subproject 6B: Security (E. Clark)

- Subproject 6C: Antenna (S. Tengler)- Subproject 6C: Antenna (S. Tengler)

Briefing Agenda

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