CICAS Coordination Meeting

September 27September 27thth, 2004, 2004

Virginia Overview

Overview of ICA Overview of ICA Projects and Projects and Supporting FacilitiesSupporting Facilities OutlineOutline

– Description of VTTI ICA ProjectsDescription of VTTI ICA Projects– Infrastructure Test BedInfrastructure Test Bed– Vehicle Test BedVehicle Test Bed– CommunicationsCommunications– PositioningPositioning

VTTI ICA ProjectsVTTI ICA Projects

Three EffortsThree Efforts– Intersection Collision Avoidance (ICAV)Intersection Collision Avoidance (ICAV)– Intersection Decision Support (IDS)Intersection Decision Support (IDS)– Left-Turn Across Path – Opposite Direction Left-Turn Across Path – Opposite Direction

(LTAP/OD)(LTAP/OD) Conducted by General Dynamics under VTTI’s Conducted by General Dynamics under VTTI’s

Indefinite Quantity Contract with NHTSA Indefinite Quantity Contract with NHTSA Project considers vehicle-based Project considers vehicle-based

countermeasures to LTAP/OD crashes for both countermeasures to LTAP/OD crashes for both signalized and unsignalized intersectionssignalized and unsignalized intersections

Also considering a limited range of cooperative Also considering a limited range of cooperative countermeasure alternatives countermeasure alternatives

ICA Areas AddressedICA Areas Addressed

Project Infrastructure-Only

Cooperative Vehicle-Only

ICAV Straight-Crossing-Path crash prevention (NHTSA funded)

Signalized X

Unsignalized X X

IDS Straight-Crossing-Path crash prevention (FHWA-VDOT funded)

Signalized X

Unsignalized X

LTAP/OD (subcontract to General Dynamics, NHTSA funded)

Signalized X X

Unsignalized X X

Virginia’s Virginia’s Infrastructure and Infrastructure and Vehicle Test BedVehicle Test Bed VTTI has developed an over-performing test VTTI has developed an over-performing test

bed that is architecture independent to bed that is architecture independent to develop performance specificationsdevelop performance specifications

Test beds support evaluation of multiple Test beds support evaluation of multiple architecturesarchitectures– Infrastructure onlyInfrastructure only– Mostly infrastructure based with receiver and DVI in Mostly infrastructure based with receiver and DVI in

vehiclevehicle– Mostly vehicle based with transmitter in Mostly vehicle based with transmitter in

infrastructure (provides stop bar location and signal infrastructure (provides stop bar location and signal phase/timing)phase/timing)

– Totally vehicle based with map in vehicleTotally vehicle based with map in vehicle For stop signed intersectionsFor stop signed intersections

Infrastructure Test Infrastructure Test BedBed Smart Road Smart Road

IntersectionIntersection– VDOT worked with VDOT worked with

VTTI to integrate a VTTI to integrate a signalized intersection signalized intersection on the Smart Road, a on the Smart Road, a two-lane 2.2 mile two-lane 2.2 mile length of road with length of road with restricted access restricted access

– Run participant-driver Run participant-driver experiments at up to experiments at up to 55 mph55 mph

– Run sensor tests up to Run sensor tests up to 70 mph70 mph

Intersection ControllerIntersection Controller

Programmers Programmers interface with 2070 interface with 2070 and 170 controllersand 170 controllers

Programmers Programmers developed controller developed controller to allow for to allow for complete control complete control over the over the intersection’s traffic intersection’s traffic lights, including lights, including amber shortening, amber shortening, amber omission, and amber omission, and sudden presentation sudden presentation of a light phase of a light phase

Infrastructure Sensors Infrastructure Sensors and Detectorsand Detectors Radar with a range Radar with a range

of 600+ ft of 600+ ft Laser detection Laser detection

technology to technology to simulate point simulate point detectiondetection

Interface is easily Interface is easily reconfigurable so reconfigurable so that new that new technologies can be technologies can be quickly addedquickly added

Infrastructure DIIsInfrastructure DIIs

Visual via external Visual via external signssigns

Haptic via tactile Haptic via tactile transducers transducers attached to the attached to the vehicle (to vehicle (to simulate an simulate an intelligent rumble intelligent rumble strip)strip)

Warnings are Warnings are reconfigurablereconfigurable

Vehicle Test BedVehicle Test Bed

2000 Impala was loaned by 2000 Impala was loaned by General Motors for the ICA General Motors for the ICA projectsprojects

Vehicle Vehicle InstrumentationInstrumentation

Data collection system is Data collection system is a modified 100-Car DAS a modified 100-Car DAS that synchronizes data that synchronizes data from:from:– Vehicle: Pedal positions, Vehicle: Pedal positions,

velocity, acceleration, velocity, acceleration, range to intersection range to intersection (differential GPS)(differential GPS)

– Intersection: Signal phase Intersection: Signal phase and timing, infrastructure-and timing, infrastructure-based velocity and range based velocity and range to intersectionto intersection

– Experimenter Interface: Experimenter Interface: Trial specificationsTrial specifications

Digital video is also Digital video is also collected and collected and synchronizedsynchronized

Vehicle DVIsVehicle DVIs

Exploring visual, Exploring visual, auditory, and auditory, and haptic warningshaptic warnings

CommunicationsCommunications Simulated DSRCSimulated DSRC

– Allows for the transfer of information within the framework of the Allows for the transfer of information within the framework of the intersection safety applicationintersection safety application

– Allows for the transfer of data between the controller and vehicleAllows for the transfer of data between the controller and vehicle– Allows synchronization between the vehicle data stream and the Allows synchronization between the vehicle data stream and the

controller data streamcontroller data stream– Provides for redundancy of the most important dependent Provides for redundancy of the most important dependent

measures measures – Allows for two-way communication, so the infrastructure and Allows for two-way communication, so the infrastructure and

vehicle can take over different functions vehicle can take over different functions in situin situ

DSRC Antennas

PositioningPositioning

Consists of two parts:Consists of two parts:– MappingMapping– Vehicle positioning (differential GPS)Vehicle positioning (differential GPS)

Purpose is to accurately place Purpose is to accurately place vehicle on the roadwayvehicle on the roadway

Detail Map Check

-80.3960

-80.3959

-80.3958

-80.3957

-80.3956

-80.3955

-80.3954

-80.3953

-80.3952

37.1870 37.1871 37.1872 37.1873Latitude, deg +N

Lo

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itud

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de

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E

This map is intentionally skewed with a stretched latitude axis to enhance detail view of turnaround lane split.

Note - at Bbg's 37.2° latitude, each degree longitude covers 79.7% [cos(LAT°)] the distance of a degree latitude. So, a true 1:1 scaled plot would be 0.000797 long° per unit longitude-axis length -versus- 0.001 lat° per unit latitude-axis length.

Points # 206 & 406 are 6.9 inches across from each other on the diverging road split. Each has a position uncertainty of 0.45 inches (std dev).

Positioning AccuracyPositioning Accuracy

Map Accuracy (stationary accuracy)Map Accuracy (stationary accuracy)– Average st. dev., 61,180 Average st. dev., 61,180

measurements:measurements: Latitude:Latitude: 0.011 m (1.1 cm, 0.45 in) 0.011 m (1.1 cm, 0.45 in) Longitude:Longitude: 0.009 m (0.9 cm, 0.38 in) 0.009 m (0.9 cm, 0.38 in)

Vehicle Positioning Accuracy Vehicle Positioning Accuracy (moving accuracy)(moving accuracy)– Less than 6 inchesLess than 6 inches

Detuning CapabilitiesDetuning Capabilities

The infrastructure and vehicle The infrastructure and vehicle test beds are “over performing”test beds are “over performing”– Allows us to “detune” various Allows us to “detune” various

aspects of the subsystems in order aspects of the subsystems in order to determine the functional to determine the functional requirements of each subsystemrequirements of each subsystem

– Directly affects the overall system Directly affects the overall system architecturearchitecture

Detuning InterfaceDetuning Interface

IDS Technical ReportsIDS Technical Reports

Neale, V. L., Perez, M. A., Doerzaph, Z. R., Holbrook, Neale, V. L., Perez, M. A., Doerzaph, Z. R., Holbrook, G. T., & Williams, V. (2002). G. T., & Williams, V. (2002). Intersection decision Intersection decision support Task 0: Virginia IDS work plansupport Task 0: Virginia IDS work plan (Report for (Report for Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Virginia Tech Transportation Institute.Virginia Tech Transportation Institute.– Work plan, and includes a literature reviewWork plan, and includes a literature review

Perez, M. A., Neale, V. L., Holbrook, G. T., Perez, M. A., Neale, V. L., Holbrook, G. T., Doerzaph, Z. R., & Stone, S. (under review). Doerzaph, Z. R., & Stone, S. (under review). Intersection decision support. Task B: Top level Intersection decision support. Task B: Top level requirements for an IDS system to mitigate SCP requirements for an IDS system to mitigate SCP crashescrashes (Report for Contract No. VTRC-MOAD-02- (Report for Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Virginia Tech Transportation 007). Blacksburg, VA: Virginia Tech Transportation Institute.Institute.– Preliminary top level requirements and a review of technologiesPreliminary top level requirements and a review of technologies

IDS Technical ReportsIDS Technical Reports

Doerzaph, Z. R., Perez, M. A., & Neale, V. L. (under Doerzaph, Z. R., Perez, M. A., & Neale, V. L. (under review). review). Intersection decision support. Task C.1: Intersection decision support. Task C.1: Enabling Research Experiment - Intersection stopping Enabling Research Experiment - Intersection stopping behavior as influenced by driver state: implications behavior as influenced by driver state: implications for Intersection Decision Support systemsfor Intersection Decision Support systems (Report for (Report for Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Virginia Tech Transportation Institute.Virginia Tech Transportation Institute.

Doerzaph, Z. R., Perez, M. A., & Neale, V. L. (under Doerzaph, Z. R., Perez, M. A., & Neale, V. L. (under review). review). Intersection decision support. Task C.2: Intersection decision support. Task C.2: Enabling Research Experiment - Intersection stopping Enabling Research Experiment - Intersection stopping behavior as influenced by driver state: implications behavior as influenced by driver state: implications for Intersection Decision Support systemsfor Intersection Decision Support systems (Report for (Report for Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Contract No. VTRC-MOAD-02-007). Blacksburg, VA: Virginia Tech Transportation Institute.Virginia Tech Transportation Institute.

IDS Articles SubmittedIDS Articles Submitted

Doerzaph, Z. R., Perez, M. A., & Neale, V. L. Doerzaph, Z. R., Perez, M. A., & Neale, V. L. (2004). (2004). Approach profiles for distracted, non-Approach profiles for distracted, non-distracted, and willfully violating drivers: distracted, and willfully violating drivers: implications for an intersection decision implications for an intersection decision support system.support system. Paper presented at the ITS Paper presented at the ITS Safety and Security Conference, Miami, FL.Safety and Security Conference, Miami, FL.

Perez, M. A., Doerzaph, Z. R. & Neale, V. L. Perez, M. A., Doerzaph, Z. R. & Neale, V. L. (2004). (2004). Driver deceleration and response time Driver deceleration and response time when approaching an intersection: Implications when approaching an intersection: Implications for intersection violation warning.for intersection violation warning. Paper to be Paper to be presented at the Proceedings of the 48th presented at the Proceedings of the 48th Annual Conference of the Human Factors and Annual Conference of the Human Factors and Ergonomics Society, New Orleans, LA. Ergonomics Society, New Orleans, LA.

ICAV Reports ICAV Reports SubmittedSubmitted Lee, S. E., Knipling, R. R., DeHart, M. C., Perez, M. A., Lee, S. E., Knipling, R. R., DeHart, M. C., Perez, M. A.,

Holbrook, G. T., Brown, S., Stone, S., & Olson, R. L. (2004). Holbrook, G. T., Brown, S., Stone, S., & Olson, R. L. (2004). Vehicle-based countermeasures for signal and stop sign Vehicle-based countermeasures for signal and stop sign violation. Task 1: Intersection control violation crash violation. Task 1: Intersection control violation crash analyses Task 2: Top-level system and human factors analyses Task 2: Top-level system and human factors requirementsrequirements (Report No. DOT-HS-809-716). Washington, (Report No. DOT-HS-809-716). Washington, D.C.: National Highway Traffic Safety Administration.D.C.: National Highway Traffic Safety Administration.– Preliminary top-level requirements and review of Preliminary top-level requirements and review of

display alternatives and HF display requirementsdisplay alternatives and HF display requirements

Lee, S. E., Knipling, R. R., Perez, M. A., Holbrook, G. T., & Lee, S. E., Knipling, R. R., Perez, M. A., Holbrook, G. T., & Stone, S. (under review). Stone, S. (under review). Vehicle-based countermeasures Vehicle-based countermeasures for signal and stop sign violation. Task 3 Test and Testbed for signal and stop sign violation. Task 3 Test and Testbed PlanPlan (Report for Contract No. DTNH22-00-C-07007). (Report for Contract No. DTNH22-00-C-07007). Blacksburg, VA: Virginia Tech Transportation Institute.Blacksburg, VA: Virginia Tech Transportation Institute.– Preliminary RequirementsPreliminary Requirements