DSRCWireless Applications and Testbeds California 19972008

1
DSRC/Wireless Applications and
TestbedsCalifornia 1997-2008
For the M5 WG16 workshop, Sept 2-4, 2008,
Chicago

• Susan Dickey, Ph. D
• Software Functional Manager
• California PATH/UC Berkeley
• dickey_at_path.berkeley.edu

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Presentation topics

• Describes the research into wireless DSRC
  applications for mobility and safety that have
  motivated California PATHs participation in
  WAVE/DSRC standards development and testbeds
• Concentrates on current VII (Vehicle
  Infrastructure Integration) California testbed
  and GEMS (Group-enabled Mobility and Safety)
  application development activities but begins
  with motivation and historical survey

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California Demographics

• Population 37 Million people
• About one out of every eight Americans lives in
  California
• 22 Million licensed drivers
• 24 Million registered vehicles
• Fifth - Eighth largest economy in the world
• Trend-setters early adopters of new technologies

Caltrans Improves Mobility Across California
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Safety Challenges in California

• 1 Million vehicle crashes each year
• 210,000 are injury-crashes
• 4,000 Fatalities
• 300,000 Injuries
• About 25 of fatalities occur at intersections
• Another 25 are lane/roadway departures
• Total Cost more than 25 Billion per year

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Mobility Demands in California

• 280 Billion Vehicle-Miles-Traveled (VMT) each
  year, and growing
• State Highway System 52,000 lane-miles
• 10 of the roadways in California
• Carries more than 60 of the VMT
• It is the Lifeline of our economy
• 560,000 hours of delay on average each day
• 30 of this delay is caused by incidents
• Total Cost more than 21 Billion per year

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Wireless Communicationsa tool to meet these
challenges

• Research at California PATH has been
  investigating wireless communications, vehicle to
  vehicle and vehicle to roadside, for some time
• Automated Highway Systems (1997-2003)
• Active Safety Systems (2002-present)
• Cooperative Intersection Collision Avoidance
  Systems/Smart Intersections
• Situational Awareness
• VII California Testbed (2004-present)
• Connected Traveler (2008-present)
• Highlights are shown in the following slides

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Automated Highway Systems Research 1997-2003

• Wireless communication (initially WAVELan 900
  MHz) used in demonstrations of platooning and
  merging for fully automated driving (1997)
• Extension of automated driving to heavy vehicles
  (2003) used Orinoco WiFi
• Token Ring Protocol used WIFI MAC, relied on
  vehicles in range before joining platoon.
• References
• Wireless Token Ring Protocol. Accepted by the
  IEEE transactions on Vehicular Technology, July
  2004.
• Comparison of Wireless Token Ring Protocol with
  IEEE 802.11. Journal of Internet Technology,
  Volume 4, no. 4, February 2004.
• Safety and capacity analysis of automated and
  manual highway systems. Transportation Research
  Part C (Emerging Technologies), vol.6C, (no.1-2),
  Elsevier, Feb.-April 1998.

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Active Safety with Roadside Vehicle
Communications (2003)

• Demonstrated roadside warning based on
  infrastructure sensors and communication of
  vehicle GPS to RSE
• Used desktop 802.11a access point to communicate
  with mini-PCI card in vehicles
• Cooling was a challenge!
• Smart intersection was then built at California
  PATHs Richmond Field Station site

Federal Highway Authority (FHWA) Turner Fairbank
Research Center Smart Intersection with Left Turn
Advisory Sign
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Situational AwarenessProof of Concept 2004

• Used large GPS and WiFi antennas (applications
  had to stay in range)
• Demonstrated forward collision warning, blind
  spot/lane assist, and intersection assistant
  applications
• Showed neighboring vehicle map real-time in
  display for engineering debugging

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California PATH Smart Intersection (2004-present)

• Initially WiFi was used to deliver in-vehicle
  warnings and enable SV/POV/RSE communication for
  driver behavior research.
• Recently Kapsch-Technocom IEEE 1609 capable MCNU
  has been installed (on pole at lower right of
  intersection)

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State Map of the Intersection We know the
status of every communicating entity
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Expedited Vehicle Infrastructure Integration
Initial Applications Demonstrated 2004
Cabinets with DSRC

• RSE uses Denso WAVE Radio module to broadcast
  exit info
• Based on calculated distances and heading of car,
  audio within car annunciates Exit ahead
• Countdown display in car every 50 meters until
  exit is passed
• RSE requests vehicle speed and location data
• Vehicle broadcasts speed and location data while
  within range which is logged by RSU

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The VII California Test Bed (2005-present)

• Purpose
• Assess real-world implementations of Vehicle
  Infrastructure Integration (VII), and evaluate
  architecture and operations
• Provide information to support future decisions
  for California and Bay Area investments for
  system management programs
• Inform the 2008 Viability Assessment for the
  National VII Program

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VII California Program Partners

• Public Agencies
• California Department of Transportation
  (Caltrans)
• Metropolitan Transportation Commission (MTC)
• City/County Association of Governments of San
  Mateo County
• Auto Industry
• Mercedes Research and Engineering Development,
  North America
• Volkswagen of America, Electronics Research Lab
• Toyota InfoTechnology Center, USA
• BMW of North America
• Nissan North America
• Technical Consultant
• California PATH

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VII California Test Bed Applications

• Traveler Information (using 511)
• Electronic Payment and Toll Collection
• Ramp Metering
• Cooperative Intersection Collision Avoidance
  Systems (CICAS)
• Curve Over-Speed Warning
• Auto Industry Applications, such as Customer
  Relations and Vehicle Diagnostics

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VII Calif. Test Bed Infrastructure

• Access to 60 miles of Right-of-Way
• Three, parallel, 20-mile long North/South routes
  US 101 SR 82 (El Camino Real) and I-280
• 14 Road Side Equipment (RSE) sites are installed
  and operating, with approved FCC licenses
• Mix of freeway / intersection locations
• 26 more RSE sites have been selected and surveyed
• Installation of RSEs will continue through 2008
• Backhaul wired (T1 lines) and wireless (3G
  cellular WiMAX, Municipal WiFi)
• Communications technology choice is site
  dependent
• Back End Data Servers
• Service Delivery Node located at the 511 TIC in
  Oakland
• IP-based additional servers can be located
  anywhere

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VII California Test BedSouthern Peninsula,San
FranciscoBay Area
Following slides show a sample of current VII
California testbed research
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VII California Transport Layer (1)

• VII applications are two-way, e.g.
• map update, navigation data request
• advance parking space reservation
• web page request (HTTP)?
• software update
• To be useful, response must arrive before vehicle
  leaves range of RSE.
• Can DSRC support these apps? Vehicle lt-gt server
  connection is brief, due to
• high traffic speed
• short radio range
• RF interference
• LOS occlusion, antenna placement
• radio congestion
• backhaul latency and bandwidth
• In practice, we may have only 5-10 second

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VII California Transport Layer (2)

• Protocol overhead consumes some of this scarce
  connection time.
• Some protocols require set-up time before sending
  messages.
• DHCP, TCP several seconds
• VII-CA testbed RSUDP and TMTCP protocols have no
  set-up time.
• Performance tests show greatly increased
  probability of round-trip message completion.
• For more information see
• http//path.berkeley.edu/vjoel/VII/TRC-S-08-00031
  .fdf
• .

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VII CA HA-NDGPS University of California-Riversid
e

• Objective Create a HA-NDGPS correction
  equivalent base station and evaluate in
  comparison with alternative DGPS architectures
• L1/L2 CP-DGPS base station with conversion
  software to High Accuracy signal
• Broadcast high accuracy signal over DSRC
  architecture
• Evaluate CP-DGPS performance characteristics with
  alternative methods
• Tasks
• Obtain Hardware/Software
• Trimble 5700, NTRIP, GRIM, HA2RCTM, rover
  receivers
• Set up initial test architectures at UC Riverside
  - POC
• Deploy HA-NDGPS and suitable architecture for VII
  - FOT
• Evaluate and compare HA-NDGPS and alternate
  positioning architectures
• Document DSRC DGPS implementation requirements

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VII-CA HA-NDGPS Base Station Implementation

• Installation Friday June 6, 2008
• Test location Mercedes-Benz RD NA
• Roof mounted geodetic antenna
• Dedicated IP address
• Network and facility support
• DSRC radio is Denso WSU
• Trimble 5700 L1/L2 Receiver
• NTRIP Server
• Broadcast Code/Carrier corrections via NTRIP -
  RTCM 2.3/3.0
• HA-NDGPS message sent via NTRIP

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VII-CA HA-NDGPS Integrated with RSE DSRC
HA-NDGPS
MB RDNA Palo Alto
CE-CERT UC Riverside Future Site?
FOT Sites
FOT Participants

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VII-CA Curve Speed Warning Concept of Operation
OBU
Block Diagram
RSU
Curve Speed Warning with EDMAP
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The Connected Traveler (2008)

• Will accelerate VII deployment using consumer
  mobile devices to deliver some VII services
• Collect traffic data from/deliver traveler
  information to mobile consumer devices
• Cell Phones, PDAs, PNDs
• Become independent of communication link
• Cellular Network (3G), Wi-Fi, DSRC, mobile WiMax?
  
• Become independent of vehicle mode (cars, buses,
  or trucks)
• Deliver at least soft safety, and perhaps more
• Stopped Traffic Ahead alert
• Bike/Ped Nearby alert

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Two Projects (California PATH and California
Center for Innovative Transportation -CCIT)

• Mobile Millennium (CCIT)
• Builds upon the success of the Mobile Century
  Experiment
• Very much a Private Sector business model
• Public Sector becomes just another consumer of
  the traffic data
• Group-Enabled Mobility and Safety (GEMS) (PATH)
• A Gateway connects the consumer mobile device
  in the vehicle to roadside infrastructure
• The Gateway enables new transit services too
• Several transit agencies are very interested in
  these services
• The Public Sector seeks to be the catalyst in
  triggering Private Sector development

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Connected Traveler Partners

• Public Partners
• USDOT
• Caltrans
• Metropolitan Transportation Commission (MTC)
• Santa Clara Valley Transportation Authority (VTA)
• San Mateo County Transit District (Samtrans)
• Academic Partners
• California Center for Innovative Transportation
  (CCIT)
• Partners for Advanced Transit and Highways (PATH)
• Private Partners
• Nokia
• NAVTEQ
• Nissan

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Connected Traveler Budget

• Total Project Budget 12.4 million
• Federal Share 2.9 million
• Caltrans Share 4.2 million
• Nokia Share 2.5 million
• NAVTEQ Share 2.0 million
• UC Berkeley Share 700 thousand
• Nissan Share 30 thousand

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Group Enabled Mobility and Safety (GEMS)

• Provide real-time traveler information for
  safety, multi-modal mobility, parking, etc.
• Services can be easily downloaded from a web site
  into several types of mobile devices
• Gateway uses multiple communications modes, such
  as cell phone network, Wi-Fi, and DSRC, to
  connect the driver to the information
• Independent of vehicle type
• Uses the existing VII California Test Bed

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GEMS Services - Description

• Tell me about my trip
• Helps you plan the best mode of travel, and the
  best road to take if you are driving
• Tell me about my road
• Alerts you if you enter a roadway segment that
  has stopped traffic, stopped traffic around a
  curve, ongoing incident, approaching stop sign,
  etc.
• Some sample messages
• Caution stopped traffic ahead
• Caution ongoing incident ahead
• Speed assist
• The phone will alert you when you drive more than
  5 mph above the posted speed limit for the road,
  or above the advised speed for a curve, or above
  the posted speed for a work zone.
• Watch out for me transmitter
• The cell phone can transmit the Basic Safety
  Message over Wi-Fi, when you are walking across
  the street, or riding a bike
• Alternatively, the cell phone can be used as a
  virtual pedestrian call button with a Wi-Fi
  equipped intersection to create an alert

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GEMS Services Personalized Interface
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Tell me about my trip (driving)
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Tell me about my road
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Multi-Network
DSRC RSE
GPS
Internet Server
Handset
Gateway
Wi-Fi RSE
Ad-hoc
Ad-hoc
Gateway in other car
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Multi-Device
http//www.connected-traveler.org/ speed_assist
Browser based
www.connected-traveler.org/tellmeaboutmyroad www.c
onnected-traveler.org/bestroute www.connected-trav
eler.org/sendprobedata
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Multi-Network Gateway

• Gateway has Wi-Fi and DSRC radio interfaces
• Also has Bluetooth interface to cell phones

Gateway
Bluetooth
Cell Phone
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GEMS Transit Services

• Partners
• Santa Clara Valley Transportation Authority (VTA)
• San Mateo County Transit District (Samtrans)
• Bay Area Rapid Transit (BART)
• Services
• Dynamic Passenger Information at Stations
• Dynamic On-Board Transit Connection Information
• Dynamic Parking Management and Information System
• Adaptive Transit Signal Priority
• Transit Buses as Traffic Data Probe Vehicles

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The 3 Ds Transit/Modal Integration Elements

• Dynamic Traveler Information
• interactive information through web, mobile
  device, bus station interface
• Parking availability for drivers
• Arrival and connection information to transit
  riders
• Dynamic Transit Operations (based on
  Origin-Destination data)
• With destination data provided through mobile
  device and bus station interface, dynamically
  manage bus transit schedule for more efficient
  operation
• Adaptive Transit Signal Priority
• Buses as probe vehicles
• Dynamic Parking Management
• Manage surplus parking
• Provide parking information

Next bus 2 min
Next station in 2 min
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Supporting Dynamic Parking Management and
Information

• Highway is congested during peak periods
• Drivers tend to think parking lots are full, even
  when stations still have parking available
• Dynamic information on parking availability makes
  transit use more convenient

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Buses as Traffic Data Probes

• Buses are frequently operated on urban corridors
• Rapid Buses flow with traffic most of the time
• By removing bus station characteristics, they can
  be used as effective traffic probes

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HOT Lane Pricing Management

• High Occupancy Toll (HOT) Lanes in Santa Clara
  County
• VTA, with Caltrans
• Future connected network
• Preliminary engineering work to develop HOT lanes
  on US 101 and SR 85
• Study of express bus/BRT overlay
• MTC leading regional San Francisco Bay Area HOT
  lane effort
• Pricing with transit improvements, to encourage
  mode shift and reduce congestion

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GEMS Plans for the Next Year

• GEMS Services will be demonstrated at ITSA World
  Congress, November 16-20, 2008, New York City
• Field Evaluation Plans Underway
• Safety
• Safety Advisories
• Pedestrian Watch Out for Me
• Mobility and ePayment
• Integrated Plan Transit Diversion ? Smart
  Parking ? BART NFC Payment
• South Bay
• Valley Transportation Authority (CMA with HOT
  Lane Plans)
• Stanford Area
• Stanford Margeurite Shuttle
• Surrounding Trip Generation Points
• Bridge Tolling

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Concept of Advisory Services

• Mapping to Classic Driving Model Taxonomy
• Strategic
• Safety Route Advisory
• Tactical (Primary Focus)
• Situational Awareness Advisory
• Control
• Watch out for me! Active Safety

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Safety Advisory Data Sources

• Collisions
• California Traffic Accident Surveillance and
  Analysis System (TASAS), 19942006 collisions on
  traveling lanes
• Traffic Data
• Real-Time Traffic Data from NAVTEQ Traffic
• Freeway Performance Measurement System (PeMS),
  (https//pems.eecs.berkeley.edu/)
• Geometric Features
• Map24 from NAVTEQ
• Highway Performance Monitoring System (HPMS)
• A Federally mandated inventory system and
  planning tool
• Caltrans intranet Document Retrieval System (DRS)
  
• Caltrans Photolog (http//video.dot.ca.gov/photol
  og/)
• Photos by post mile along the California state
  freeway system.

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Exemplar Safety Advisory Evaluation Factors
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In Conclusion

• Researchers are using the VII California testbed
  for a wide variety of communications-enabled
  applications research
• Interoperability is a key concern, since we use
  communications equipment from multiple
  manufacturers, and work with many different
  automobile OEMs. The rapid completion of
  standards for interoperabilty is of crucial
  importance for deployment.
• For hard safety applications, DSRC performance is
  required. But we are interested in using all
  types of communication to improve safety and
  mobility for travelers, and in developing ways
  for these to work together.
• As a deployment model, we hope to piggyback on
  the increasing capability of personal
  communications devices available to the connected
  traveler. Use of existing IP-based communication
  models will remain important.

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Thank you!
For more information, please refer
toviicalifornia.org