aashto connected & automated vehicle (cav) working...

AASHTO

Connected & Automated

Vehicle (CAV) Working Group

August 2016 Meeting

Denver, Colorado

Blaine Leonard, UDOT, Chair

Matt Smith, MDOT, Co-Chair

Greg Larsen, CalTrans, Co-Chair

2

Agenda

1. Welcome / Introductions

2. Recap of CAV Activities and Future Direction

3. Break for Lunch

4. SPaT Deployment Challenge & Resolution

5. OEM Workshop – V2I OEM and DOT Data

Exchanges

6. AV Policy

Recap of CAV TWG Activities

and Future Direction11:15 AM

4

CAV TWG Vision

The CAV Working Group is the recognized

national leader for state transportation

agencies for information and collaboration

on connected and automated vehicle

deployment and impacts, and is the voice

for those entities relative to these emerging

technologies.

5

CAV TWG

• Membership

• Objectives:

Collaborate with V2I DC, PFS and other

groups (AASHTO Committees, ITE, ITS-A)

Forum for Sharing Information & Resources

Support Deployment Activities

6

CAV TWG Activities

• Guided by the STSMO Strategic Plan

Plan elements specific to CAV

Part of STSMO Executive Committee

Coordinate with other STSMO TWGs

Systems Operations, Performance Measures,

Research, Traffic Incident Management

• Monthly Conference Calls

• Annual Meeting

7

CAV TWG Issues

• Presentations from Pilot Deployments

• Updates on / Input to Deployment Tools

AASHTO Near-Term V2I Transition and

Phasing Analysis (USDOT / Booz Allen

Hamilton) (Pending upgrade / distribution)

• Coordination with V2I DC

• Deployment Survey (with V2I DC TWG1)

• Patent Infringement Issue

8

CAV TWG Issues

• Connected Vehicle Security

• FCC 5.9GHz Spectrum Sharing

Participated in NOCoE Webinar June 30

Contributed to AASHTO Comments to FCC

• OEM Data Sharing Relationships

• SPaT Deployment Challenge (with TWG1)

• Automated Vehicle Policy

9

2015 Work Plan for CAV TWGNear Term Term Actions:

• Support completion of Near-term V2I Transition project

• Support the V2I Deployment Coalition

• Develop a list of projects of interest and evaluate

mechanisms for executing these projects

V2I Application Survey (with TWG1)

SPaT Deployment Challenge

• Explore ways to improve collaboration with OEMs (TWG3)

• Webinars to disseminate CV/AV experience and tools

CV Pilot / Deployment Tools / Security & Patent Issues / AV Policy

• Provide a forum for state DOTs and other AASHTO member agencies to collaborate and share information

10

2015 Work Plan for CAV TWGLong Term Term Actions:

• Collect and support information dissemination related to

Connected and Automated Vehicle deployment

o Identify significant reports and tools

o Discuss opportunities for storage and dissemination with NOCoE

o Place significant reports and tools in the NOCoE repository

o Publicize the availability of the reports and tools

Aligns with V2I DC TWG2 (Research) Activity

• Coordinate with STSMO and other AASHTO

Subcommittees on CV and AV issues

11

Looking Ahead to the Next Year

• Relationship with the V2IDC & Connected

Vehicle PFS

Overlaps in people and projects

Collaboration without duplication

• CAV WG Plan for the Upcoming Year

Reduce to bi-monthly conference calls

Continue our focus areas

12

Looking Ahead to the Next Year

• What would members like to change?

• Issues that members would like to see

addressed

Break for Lunch11:55 AM

SPaT Deployment Challenge12:30 PM

15

SPaT Deployment Challenge

• Background – why and where

• Resources – what we need to do

• Outreach – getting the word out

• Formal Challenge – the AASHTO SPaT

Challenge Resolution

16

V2I Deployment Challenge

• “Chicken and Egg” problem

• Discussion within V2I DC TWG 1:

How do we encourage / initiate broad V2I

deployment?

How do we demonstrate commitment to OEM

and private industry?

What is a reasonable, early expectation?

• Signalized Intersections (low-hanging fruit)

17


• Deployment of roadside DSRC hardware

broadcasting Signal Phase and Timing (SPaT)

on:

a coordinated corridor of at least

20 intersections

in each state

by 2020

• Commitment to operate for at least 10 years

18


Goal of the Challenge:

• Give DOTs an entry into V2I deployment and

operations

valuable experience with procurement, installation,

operations

• Show a commitment to OEMs and developers

Break through the “chicken and egg” problem

• Help promote future (more advanced) V2I

deployments

19

Resources / Tools

Original Resources Identified by TWG 1:

1. Guidelines for selecting corridors

2. Procurement guidance

3. DSRC licensing information

4. Implementation guidance

5. Estimated costs (install & maintenance)

6. Identification of existing funding sources that

agencies may consider

20

Resource /Tool Development

• TWG 1 subgroup met July 20th

Jim Peters, Jon Riehl, James Li, Bill Legg,

Dean Deeter

• Developed Initial Approach and Began

Progress on the Documents

• Others are Welcome to Join

21

Resources / Tools

1. Guidelines for selecting corridors

2. Sample SPaT/DSRC related ConOps,

Requirements, & Other Documents

3. Procurement guidance

4. DSRC licensing information

5. Implementation guidance

6. Estimated costs (install & maintenance)

7. Identification of existing funding sources that

agencies may consider

Initiated

Efforts

Volunteers

still needed

22

Existing Resources

• Recognize the resources already developed;

no need to reinvent these. Some Existing Resources

Use the documents; describe the value to agencies participating in

the SPaT Challenge

Summarize the content of these (documents, interviews, etc.) for

use in the SPaT Challenge

Some New Resources – May need to develop

resources or portions of resources if none exist

23

DSRC Licensing Information Report prepared by

ITS America,

USDOT, FHWA

Plan is to summarize

what is in this

document, and how

it can be used

24

Implementation Guidance

• What should this include?

Give a general view of what it takes to install,

what is needed in the field, what equipment

is needed, etc. Possibly include plan sheets or guidelines for installing

hardware and all other components to reach functionality

Reference / use the AASHTO Footprint Analysis

Articulate which traffic signal controllers have the

functionality imbedded in them to support SPaT broadcasts

SPaT Requirements (e.g. broadcast at 10 Hz, others?)

May need to include MAP broadcast information

25

Estimated Costs

(Install & Maintain)

Collect and summarize content from

several sources of information

V2I Maintenance Webinar in September

(New York City & UMTRI experiences)

Additional sources identified (transit cost

estimates, MMITSS deployments)

26

Sample ConOps &

Requirements Documents

Possible Sources: MMITSS (AZ, CA) Concept of Operations &

other materials

NYC & THEA Pilot ConOps

Summarize how agencies could use and

benefit from these

Capture how other States have applied these

documents on other projects

27

Resources & Tools Subgroup

• Next Meeting: Thur Aug18th, noon edt

• Anyone wishing to participate – contact

Dean Deeter, [email protected]

27

28

SPaT

Concept

One-pager

28

• Feedback Received:

• Who is the audience?

• Add more content

• Suggested Revised

Approach

29

Multi-page Folios

29

What?

Why?

How?

30

Information Sharing

• Work with NOCoE to launch a website

Background Material / References / Tools

Progress Map of Deployments

Links to other documents

Management Briefings

Reference Materials

Deployment Overviews

30

31

AASHTO SPaT Challenge

Resolution

• Seeking Formal Resolution

Presented at SCOTE (Traffic Engineering) for

consideration

Informal discussions at other STSMO Working Groups

Formal motion: STSMO Meeting on Thursday morning

Target: Resolution Adoption at AASHTO Annual

meeting in November

32

AASHTO Resolution

Supporting Documents

• AASHTO Policy Resolution – AASHTO SPaT Challenge

2 page document defining the Policy Resolution

• SPaT Resolution Background

4 page document with supporting information

33

SPaT Challenge

Questions

Additional Considerations for Discussion:

• What Resources are we Missing?

• What is a Next Step?

How to keep the basic SPaT deployment challenge

simple, but still encourage additional, next phase

deployments

OEM Workshop – V2I Data

Exchanges Discussion1:15 PM

35

V2I Data Exchanges with Vehicles

1. Review Infrastructure Data Requests from

the OEMs

OEMs have requested feedback prior to the

September Workshop

2. Discuss Infrastructure Owners & Operators

Data Requests

To be sent to OEMs prior to September

Workshop

36

OEM V2I Applications

Crash Avoidance Metrics Partnership (CAMP)

Applications:

Signalized Intersections

Curve Speed Warning

Reduced Speed Zone / Lane Closure

Queue Warning

• The RLVW application warns the driver of an

approaching signalized intersection when a potential of

running the red light is determined based on data

received from infrastructure- and vehicle-based sensors.

• Data elements from the infrastructure:

o RSU associates all the lanes at the intersection with traffic

signal information, encodes using SAE J2735 – 2015 as

MAP message and broadcasts

o RSU interfaces with the traffic signal light controller for

SPaT and broadcasts the information

o RSU may also be configured to transmit local GPS / RTCM

correction messages for additional positional accuracy

• DSRC Message Broadcast

– Intersection MAP message at 1 Hz

– Intersection SPaT message at 10 Hz

– RTCM version 3.0 message types for high positioning

performance in the vicinity of a base station.

• Message type 1001 – GPS L1 observations at 5 Hz

• Message type 1005 – Antenna Reference Point (ARP) coordinates at 2 Hz July 26, 2016 CAMP - V2I Consortium Proprietary 37

Signalized Intersection

Illustration and Information Flow of RLVW

Example - Signal phase and

lane association

Curve Speed Warning

• The CSW application informs the driver of an

approaching curve and warns when the vehicle

speed is too high, as defined by the system, for

travelling through the curve.

• Data elements from the infrastructure in the BIM:

– Curve reference point

– Geometry of approach to the curve

– Geometry of curve to calculate curvature values

– Optionally:

– Superelevation of the curve

– Road surface characteristics

» Road material (e.g., asphalt, concrete, gravel)

» Road surface condition (e.g., dry, wet, icy)

» Coefficient of friction (µ)

– Environmental condition: e.g., visibility


– BIM comprising of reference point, approach geometry,

curve geometry and optional information

– Frequency: 1 Hz

Illustration and Information Flow of CSW Concept

July 26, 2016 CAMP - V2I Consortium Proprietary 38

Reference point, approach and

curve geometry

Reduced Speed Zone / Lane Closure Warning

• The RSZW/LC application informs driver of an

approaching work zone & warns vehicle operators when,

I. vehicle speed is higher than the speed limit

II. changes in roadway such as lane closure that requires a lane

change

• Data elements from the infrastructure in the BIM:

– Work zone reference point

– Geometry of approach to the work zone (each lane)

– Geometry of the work zone (each lane)

• Start of each lane closure from the reference point

– Presence of workers

– Speed limits in the work zoneo Normal speed limit

o Work zone speed limit

o Speed limit when workers are present

• DSRC Message Broadcast– BIM comprising of reference point, approach geometry, work zone geometry

presence of workers and speed limits

– Frequency: 1 Hz July 26, 2016 CAMP - V2I Consortium Proprietary 39

Illustration and Information Flow of

RSZW/LC Concept

Reference point, approach and work zone

geometry

• Queue warning / management focuses on

providing warnings upstream of developing

congestion in sufficient time to allow drivers to

safely brake, change lanes or modify their routes

before reaching the back of the queue; thereby

reducing the likelihood for rear-end collisions at

the back of the queue.

• Data elements from the infrastructure:

o Traffic Sensor System to Traffic Management

Entityo Speed, Volume & Occupancy

o Traffic Management Entity to Dynamic

Message Sign(s)o Queue Location


o Linear Referencing System Informationo Roadway ID

o Roadway Name

o Mile Marker Location

o Heading

o Mile Marker Latitude, Longitude and Elevation

o Queue Location July 26, 2016 CAMP - V2I Consortium Proprietary 40

Queue Warning*

TME Based QWARN Information

Flow for bottle necks at known locations

TrafficManagementEn ty

TrafficSensorSystem

INFLODatabase

QWARNApplica on

CVDataAggregator

TSSDataAggregator

ConnectedVehicles

RSE

DynamicMessageSign(s)

UnequippedVehicles

* Based on Report on Dynamic Speed Harmonization and Queue Warning Algorithm Design, Final Report – February 28, 2014, FHWA-JPO-14-168

41

Infrastructure Owner Operator

(IOO) V2I Applications

1. Queue Warning

2. Vehicle Data for Traffic Operations

3. Intelligent Traffic Signal System

4. Warnings About Upcoming Work Zones

5. Curve Warnings

6. Road Weather Motorist Alert & Warning

Sources Identified for Each Application

1. Queue Warning Report on Dynamic Speed Harmonization and Queue Warning

Algorithm Design, February 2014 http://ntl.bts.gov/lib/54000/54800/54895/FHWA-JPO-14-168.pdf

Intelligent Network Flow Optimization (INFLO) Prototype Seattle Small-Scale Demonstration Final Report, May 2015

2. Vehicle Data for Traffic Operations CVRIA for Vehicle Data for Traffic Operations,

http://www.iteris.com/cvria/html/applications/app87.html#tab-3

Possibly the Wyoming, THEA, or NYC Pilot ConOps?

3. Intelligent Traffic Signal Systems MMITSS Final ConOps; Oct 21, 2012 http://www.cts.virginia.edu/wp-

content/uploads/2014/05/Task2.3._CONOPS_6_Final_Revised.pdf

MMITSS Systems Requirements Document: http://www.cts.virginia.edu/wp-content/uploads/2014/05/Task3._SyRS_4_PostSubmittal_V3.pdf

Vehicle Information Exchange Needs for Mobility Applications Version 3.0; FHWA-JPO; April 2013

http://ntl.bts.gov/lib/54000/54800/54895/FHWA-JPO-14-168.pdf


http://www.cts.virginia.edu/wp-content/uploads/2014/05/Task2.3._CONOPS_6_Final_Revised.pdf

http://www.cts.virginia.edu/wp-content/uploads/2014/05/Task3._SyRS_4_PostSubmittal_V3.pdf

Sources Identified for Each Application

4. Reduced Speed Zones / Warnings About Upcoming Work Zones

Vehicle-to-Infrastructure (V2I) Safety Applications: Concept of Operations, Final Report, FHWA-JPO, March 8, 2013 http://ntl.bts.gov/lib/48000/48500/48527/ED89E720.pdf

Vehicle-to-Infrastructure (V2I) Safety Applications: System Requirements Document; FHWA-JPO; March 8, 2013 http://ntl.bts.gov/lib/48000/48500/48527/ED89E720.pdf

5. Curve Warnings Accelerated V2I Safety Applications Concept of Operations May 29, 2012;

6. Road Weather Motorist Advisory & Warning Concept of Operations for Road Weather Connected Vehicle and

Automated Vehicle Applications; Oct 2015 DRAFT

Weather-related Information Needs for Connected Vehicles; April 2014 http://ntl.bts.gov/lib/48000/48500/48523/272C82A5.pdf

” Appendix B. Data in BSM Part 1 or Part 2

http://ntl.bts.gov/lib/48000/48500/48527/ED89E720.pdf


http://ntl.bts.gov/lib/48000/48500/48523/272C82A5.pdf

Queue WarningSummary:

• Queue warning focuses on providing

warnings upstream of developing congestion

in sufficient time to allow drivers to safely

brake, change lanes or modify their routes

before reaching the back of the queue;

thereby reducing the likelihood for rear-end

collisions at the back of the queue.

Data elements from the vehicles1:

Queued State of Vehicle

Mile Marker Location

Roadway Identifier

Speed, Heading, Latitude, Longitude

Timestamp

1 Page 26: Report on Dynamic Speed Harmonization and

Queue Warning Algorithm Design, Feb. 28, 2014.


Methods for Determining

“Queued State” Described

in Source document

1. Vehicle calculates its

“Queued State”, sends to

roadside

2. Central systems

determine location and

extent of queue


(Seattle Demonstration)

Queued State of Vehicle

Roadway Identification Number

Mile Marker (current location)

Vehicle Location

Velocity (speed)

Heading

External Air Temperature2 Intelligent Network Flow Optimization (INFLO) Prototype

Seattle Small-Scale Demonstration Final Report; FHWA-JPO, May 2015.


Vehicle Data for Traffic OperationsSummary:

The Vehicle Data for Traffic Operations (VDTO) application uses probe data

information obtained from vehicles in the network to support traffic operations,

including incident detection and the implementation of localized operational

strategies. The implantation of incident detection enables transportation

agencies to determine the location of potential incidents so the agencies can

respond more quickly to the incident and mitigate any negative impacts to the

transportation network.

Data Elements from the Vehicle:These are information flows from the physical vehicle databuss and OBE3

Vehicle location and motion:

• Location in 3 dimensions;

• Measured speed;

• Heading

• Acceleration,

• Braking status and size,

• Speed changes

3 CVRIA for Vehicle Data for Traffic Operations,


Environmental data:

• measured air temperature,

• exterior light status,

• Wiper status,

• sun sensor status,

• rain sensor status,

• traction control status,

• anti-lock brake status,

• other collected vehicle system status


Intelligent Traffic Signal Systems (ISIG)

Summary:

• CVRIA definition: The Intelligent Traffic Signal System (ISIG) application uses

both vehicle location and movement information from connected vehicles as well

as infrastructure measurement of non-equipped vehicles to improve the

operations of traffic signal control systems. The application utilizes the vehicle

information to adjust signal timing for an intersection or group of intersections in

order to improve traffic flow, including allowing platoon flow through the

intersection.

• ISIG Use Cases (excluding transit, pedestrian, freight, emergency) Include:

Basic Signal Actuation (single equipped vehicle) Congestion Control

Basic Signal Actuation (multiple equipped vehicles) Coordinated Section of Signals

Dilemma Zone Protection

5 MMITSS Final Requirements http://www.cts.virginia.edu/wp-content/uploads/2014/05/Task3._SyRS_4_PostSubmittal_V3.pdf


Intelligent Traffic Signal Systems (cont’d)Data elements from the vehicles5:


6 Vehicle Information Exchange Needs for Mobility Applications Version 3.0. FHWA-JPO; April 2013.

Ambient Air Pressure (BSM 2), Ambient Air Temp (BSM 2), Exterior lights (BSM 2), Lights changed (BSM 2),

Motion (BSM 1), Position (local 3D) (BSM 1), Rain sensor (BSM 2), Road COF (BSM 2),

Signal Request Message Stop Line Violation (BSM 2), Traction Control Active over

100 msec (BSM 2)

Vehicle ID (BSM 2),

Vehicle mass (BSM 2), Vehicle size (BSM 1), Wiper status (BSM 2), Wipers Changed (BSM 2),

Antilock Brake System active over 100 msec (BSM 2),

Vehicle Time, Vehicle ID, BSM 1 Veh. Msg. Timestamp, BSM 1 Veh. Type, BSM 2

Veh. Lat., BSM 1 Veh Long., BSM 1 Veh Elevation, BSM 1 Veh. Heading, BSM 1

Veh. Speed, BSM 1 Veh. Width, BSM 1 Veh. Length, BSM 1 Veh. Mass, BSM 2

Brake applied status BSM 1 Turn Signal Status, BSM 2 Windshield wiper status, BSM 2 Outside air temp, BSM 2

Roadway friction, BSM 2 Veh. SRM Intersection ID,

SRM

Vehicle SRM Priority level of

request, SRM

Vehicle Expected Time of

Arrival, SRM

Veh. Travel Path, SRM

5 MMITSS Final Requirements http://www.cts.virginia.edu/wp-content/uploads/2014/05/Task3._SyRS_4_PostSubmittal_V3.pdf


Reduced Speed Zone Warnings /

Warnings About Upcoming Work ZonesSummary:

• The RSZW/LC application informs the driver of an approaching work zone

and warns vehicle operators when,

• vehicle speed is higher than the speed limit

• changes in roadway such as lane closure that requires a lane change

Data elements from the vehicles:

V2I Safety Applications ConOps7 & Requirements8 defines data needs as:

- Vehicle Positioning Information

- Vehicle Speed

- Vehicle Acceleration

- Vehicle Heading

7 Vehicle-to-Infrastructure (V2I) Safety Applications: Concept of Operations, Final Report FHWA-JPO, March 8, 2013;

http://ntl.bts.gov/lib/48000/48500/48527/ED89E720.pdf8 Vehicle-to-Infrastructure (V2I) Safety Applications: System Requirements Document; FHWA-JPO, March 8, 2013;




Curve Warnings

Summary:

• The Curve Speed Warning application informs the driver of an approaching

curve and warns when the vehicle speed is too high, as defined by the

system, for travelling through the curve.

Data elements from the vehicles:

Vehicle speed and rate of acceleration

Steering wheel angle

Turn signal activation

Intervention by the electronic stability control (ESC), ABS, or traction

control

9 pg. 66: Accelerated V2I Safety Applications Concept of Operations May 29, 2012



Road Weather Motorist Advisory and WarningSummary

Two information loops can be envisioned in this application. The first emphasizes gathering and disseminating spot warnings and advisories directly to individual motorists in the fastest possible means, while the second focuses on the integration of road weather information into a broader set of advisories but over a longer time period.10

Data elements from all vehicles11

• Ambient air temperature Essential to diagnosing precipitation along roadways

12

• Ambient air pressure

• Antilock Brake System active over 100 msec

• Exterior lights (status) Headlights were found to have little influence on the output

3

• Lights changed

• Rain sensor Light rain inferences from the VDT Road Weather Hazard (RWH) module were reduced in accuracy by

about 50%, light snow by 30%, and there was also a slight reduction in heavy snow inferences.3

• Road coefficient of friction

• Traction Control System active over 100 msec

• Wiper status Wiper status also proved essential in the RWH precipitation algorithm and should be included in BSM2

3

• Wipers changed …optimally, information should be sent every time there is a change in wiper status (e.g., off to intermittent,

intermittent to low).3

• Confidence-speed/heading/throttle10 Concept of Operations for Road Weather Connected Vehicle and Automated Vehicle Applications; Oct 2015 DRAFT11 “” Appendix B. Data in BSM Part 1 or Part 212 Weather-related Information Needs for Connected Vehicles; April 2014

Road Weather Motorist Advisory and Warning

(cont’d)

Data elements for BSM213

• ABS*

• Ambient air temp*

• Ambient atmospheric pressure*

• Precipitation sensor*

• Tire air pressure

• Vehicle type

• Wiper status and mode change*

• Light status and mode change*

• Traction control active*

• Stability control active*

• Wheel rotational displacement*

* Indicated as priority

3 FHWA Road Weather 2015-Weather Recommendations for CAMP

AV Policy Discussion4:15 PM

53

AV Legislative Activity

• States with AV Bills:

Nevada

California

Florida

Michigan

Washington DC

Tennessee

Louisiana (definition only)

North Dakota (study only)

Utah (study only)

Arizona (Exec Order)

• States that Introduced Legislation:

• 16 states in 2015; 12 states in 2014

54

Current AV Legislative Activity

• California

Establish driverless vehicle testing areas

Authorize actual operation in specific locations

• Michigan

Six bills currently in play

Create Council on Mobility

Liability Protection

Authorize Platooning

55

Current AV Legislative Activity

• Pennsylvania

Allow testing for Level 4 AV

Establish broad Task Force

• Wisconsin

Considering a Policy Group and Study

• Others?

56

AV Legislative / Policy

• Resources:

National Conference of State Legislatures

(NCSL) – tracking of legislation

NHTSA “Preliminary Statement of Policy

Concerning Automated Vehicles” (2013)

Bryant Walker Smith, “Automated Vehicles Are

Probably Legal in the United States”, Tex. A&M

Law Rev. 411 (2014)

57

AV Legislative / Policy• Resources, con’t:

Wood, SP, et al., “The Potential Regulatory

Challenges of Increasingly Autonomous Motor

Vehicles”, Santa Clara Law Rev. 1423 2012

Isaac, Lauren “Driving Toward Driverless: A

Guide for Government Agencies”, WSP Parsons

Brinckerhoff, 2016

Bryant Walker Smith, “How Governments Can

Promote Automated Driving”,

NewlyPossible.Org, 2016

58

AV Policy Issues

• What can the CAV TWG do to help states?

• What conversations should we be having?

59

Thanks for Participating!

Remember: BI-monthly meetings

Contacts:

Blaine Leonard, UDOT - [email protected]

Matt Smith, MDOT – [email protected]

Greg Larson, CalTrans - [email protected]

Dean Deeter, Athey Creek –

[email protected]

mailto:[email protected]


