SPaT Challenge Webinar Series Webinar #2: Design Considerations, Part 1

Transcription

1 SPaT Challenge Webinar Series Webinar #2: Design Considerations, Part 1 2:00 3:30 PM (Eastern) March 20, 2018

2 All lines are muted Webinar Logistics Webinar will be recorded Submit questions and comments in chat or Q&A section of webinar window Questions will be answered at webinar conclusion 2

3 Agenda Welcome and Introduction SPaT Messages, Data Assembly, and the Signal Controller Interface Patrick Chan, ConSysTec V2I Hub Chris Stanley, Leidos Agency experience with deploying on-board units Faisal Saleem, Maricopa County DOT Q&A 3

4 SPaT Challenge To challenge state and local public sector transportation IOOs to cooperate together to achieve deployment of DSRC infrastructure with SPaT broadcasts in at least one corridor or network (approximately 20 signalized intersections) in each state by January

5 First SPaT Challenge Webinar March 6, 2018 Topics included: Introduction to the SPaT Webinar Series and SPaT Challenge Systems Engineering Approach to the SPaT Challenge Overview of the Model Concept of Operations and Requirements documents Costs, Procurement, and Corridor Selection 5

6 SPaT Challenge Resource Page 6

7 SPaT Challenge Resource Page 7

8 SPaT Challenge Resource Page 8

9 Upcoming SPaT Challenge Webinars Design Considerations, Part 2 April 17, :00-3:30pm ET MAP messages, vehicle position correction, and DSRC licensing MAP Creator Tool Demonstration April 24, :00-2:30pm ET Live technical demonstration and step-by-step training on using the MAP creator tool Design Considerations, Part 3 May 15, :00-3:30pm ET Backhaul infrastructure, intersection, and roadside equipment specification, design and installation Deployment & Validation June 12, :00-3:30pm ET Procurement, validation, verification, and security of SPaT deployments 9

10 Signal Controller Interface for SPaT messages Patrick Chan, ConSysTec

11 Overview of Presentation Introduction to the SPaT Message Introduction to NTCIP 1202 v03 SPaT Implementations 11

12 Introduction to the SPaT Roadside Unit Message Signal Controller Unit Traffic Management Center Connected Devices 12

13 Introduction to the SPaT Message SAE J2735 DSRC Message Set Dictionary Current version: SAE J2735_ Developed with international community input Signal Phase and Timing Message 13

14 J2735 SPaT Message Message: MSG_SignalPhaseAndTiming Field Object Description Req/Opt timestamp name intersections regional data element MinuteOfTheYear data element DescriptiveName data frame IntersectionStateList data frame RegionalExtension timestamp Name for the collection of intersections List of each intersection SPaT data is provided Regional extensions, if any A single SPaT message can provide signal timing data for up to 32 intersections. optional optional required optional 14

15 J2735 SPaT Message Data Frame: IntersectionState Field Object Description Req/Opt id data element IntersectionReferenceID Unique regional identifier for the intersection required revision data element MsgCount Version of the message* required status data element IntersectionStatusObject General status of the intersection states data frame MovementList The status of each movement at the intersection required required * ISO TS indicates MsgCount should only be incremented when the message content changes. 15

16 J2735 SPaT Message Data Frame: MovementState Are we allowed to move? When will it change? 16

17 J2735 SPaT Message Data Frame: MovementState For each movement: Field Object Description Req/Opt signalgroup data element SignalGroupID Identifier for an allowed movement. Tied to the MAP message (to a lane or set of lanes) required eventstate data element MovementPhaseState Phase state (protected, permissive, yellow, red, etc.) required timing data element TimeChangeDetails Time stamps for an event optional speeds data frame AdvisorySpeedList Speed advisories for general or specific vehicles optional 17

18 J2735 SPaT Message Data Frame: TimeChangeDetails Field Object Description Req/Opt starttime minendtime maxendtime likelytime confidence nexttime data element TimeMark data element TimeMark data element TimeMark data element TimeMark data element TimeMark data element TimeMark Time when the event first started Earliest time the event will end Latest time the event will end Most likely time the event will end Confidence level of the likely time When the event will occur again optional required optional optional optional optional 18

19 Other Optional fields J2735 SPaT Message Field Object Description Req/Opt enabledlanes maneuverassistlist dataframe EnabledLaneList data frame ManueverAssistList Tied to MAP message, indicates which lanes are currently active. Details about traffic flow for specific lanes and maneuvers (e.g, queue length, potential pedestrian or bicycle conflicts) optional optional 19

20 Maneuver assist Left allowed in Lane 23 To Lane 13 or 14 Queue length Ped conflict? J2735 SPaT Message Enabled Lanes: Lane 1 = parking lane Lane 5 = travel lane /

21 J2735 SPaT Message Used in conjunction with a MAP message The MAP message defines the lanes and the possible movements at the intersection The MAP message does not change unless the roadway geometry changes The SPaT message identifies the enabled lanes and additional dynamic information for a movement signalgroupid links the SPaT with the MAP 21

22 NTCIP 1202 v03 Roadside Unit Signal Controller Unit Traffic Management Center Connected Devices 22

23 NTCIP 1202 v03 Object Definitions for Actuated Signal Controllers (ASC) Interfaces Version 3 adds systems engineering content, support for the cabinet environment, managing I/O mapping, exception reporting, and support for connected vehicles Version 3 is currently in ballot. 23

24 NTCIP 1202 v03 Connected Vehicles Interface Configure the interface between a controller and a RSU Generate and exchange SPaT data Generate and exchange MAP data Receive Basic Safety Messages and Personal Safety Messages as detector inputs 24

25 NTCIP 1202 v03 25

26 NTCIP 1202 v03 Different physical architectures The ASC process is part of the controller unit The CV Roadside process In the same physical unit as the DSRC radio In the same physical unit as the controller unit Its own separate physical unit 26

27 NTCIP 1202 v03 Supports different architectures between the ASC and RSU Who is the manager? Does the ASC push SPaT data to the RSU, or does the RSU pull SPaT data from the ASC Each has benefits and issues May be determined by the policies of each agency Must be defined in the specification Let the market decide 27

28 NTCIP 1202 v03 Configure the RSU interface Manage the ports Manage the watchdog 28

29 NTCIP 1202 v03 Generate and exchange SPaT data Objects were created to address all SPATrelated mandatory and optional data elements in SAE J2735_ except: start time for a movement Regional extensions Adds performance requirements How often is SPaT data provided How quickly SPaT data is provided after an event 29

30 NTCIP 1202 v03 Generate and exchange SPaT data Issues: Time reference The controller may have a different time source than the RSU Controller provides timestamps in ticks (1/10 th of a second) elapsed since the top of the hour, and allows the RSU to resolve time 30

31 NTCIP 1202 v03 Generate and exchange MAP data Objects were created to address all MAPrelated mandatory data elements for intersections in SAE J2735_ Necessary to ensure the SPaT data and MAP data are synchronized Provides a check that the correct MAP is in effect Provides a check that mutually exclusive enabled lanes are not in effect 31

32 NTCIP 1202 v03 Receive Basic and Personal Safety Messages as detector inputs Creates virtual detectors that are tied to the ASC detector inputs Detector boundaries can be a lane or a geofence Provide filters such as vehicle type, direction of travel, speed 32

33 NTCIP 1202 v03 SignalGroupID = channel output number Current Status Standard in ballot soon Some vendors have started adopting the balloted standard Some risk involved Changes Lessons Learned 33

34 SPaT Implementations USDOT CV Pilots in New York City and Tampa Multi-Modal Intelligent Traffic Signal Systems (MMITSS) 34

35 NYC CV Pilot Implementing the balloted version of NTCIP 1202 v03 to provide SPaT data Working with the ASC Working Group on implementation issues Only sends SPaT data when there s a change in movement status (state or timestamps) Sending SPaT data to Amazon Cloud to support PED applications for the visually impaired 35

36 NYC CV Pilot RSU translates the SPaT data and generates the SPaT message SPaT data includes timestamps to insure RSU can adjust times as necessary Security design considers the RSU, ASC and TMC as a whole system Efficient channel usage allows alternate media 36

37 Tampa CV Pilot Uses Siemen s SpatMap application Part of Siemen s core RSU software Uses the SPaT message defined by the V2I Hub Interface Control Document (ICD) between the signal controller and RSU Also called the Traffic Signal Controller Broadcast Message (TSCBM) Uses other functions provided by MMITSS 37

38 MMITSS Current version: Has a MMITSS Roadside Processor between the signal controller and the RSE Radio Uses the Battelle SPaT message (blob) consisting of NTCIP 1202 v02 objects with extensions, between the Roadside Processor and the signal controller. 38

39 MMITSS Based on the 2009 version of SAE J2735 SPaT data: Sent every 0.1 seconds Movement times are time to change, NOT timestamps Version 2.0 May use the NTCIP 1202 v03 object definitions 39

40 Summary Industry still transitioning to support SPaT May still be changes to SAE J2735 Current options between the RSU and controller Ballot standard of NTCIP 1202 v03 Interface Control Document defined in the V2I Hub Talk with your vendor! 40

41 SAE J2735_ Resources 35_201603/ NTCIP ault.asp?documents=yes&qreport=no&sta ndard=

42 Resources Connected Vehicle Pilots MMITSS ISO TS

43 V2I HUB Roadside software to facilitate communication between new connected vehicle hardware and existing traffic control equipment & systems Traffic Signal Controller Roadside Unit (RSU) GPS Transportation Management Center (TMC) Map Signal Phase and Timing (SPAT) Message Storage V2I Hub Federal Highway Administration Saxton Transportation Operations Lab

44 Presentation Overview What is V2I Hub? Why V2I Hub? Where can V2I Hub be found? When will software, documentation, and additional functionality be available? Traffic Signal Controller Roadside Unit (RSU) GPS Transportation Management Center (TMC) Map Signal Phase and Timing (SPAT) Message Storage V2I Hub

45 What Is V2I Hub? Software to simplify integration by translating communication between different standards and protocols Modular platform uses software plugins to add functionality and communicate to different hardware and systems Software middleware that can run on both Arm and Intel processors running Linux V2I Hub can run on a variety of roadside equipment Roadside Unit (RSU) CV radio Traffic signal controller coprocessor board Standalone industrial computer

46 What Is V2I Hub? Plugins can create SAE J compliant messages for broadcast BSM Basic Safety Message MAP Intersection Geometry SPaT Signal Phase and Timing TIM Traveler Information Message RTCM Position Correction Future J2735 messages

47 What Is V2I Hub? Plugins enable communication with different equipment and systems Connected Vehicle Radios Roadside Unit (RSU) Traffic Signal Controllers Transportation Management Centers Global Positioning System (GPS) Radios Position Correction Equipment or Data Dynamic Message Signs Pedestrian and Vehicle Sensors Road Weather Sensors Internet Specialized Equipment Traffic Signal Controller Rail Signal Controller Roadside Unit (RSU) Dynamic Message Sign (DMS) GPS Internet Transportation Management Center (TMC)

48 What Is V2I Hub? Plugins can add functionality and run connected vehicle applications Conflict Monitor MMITSS Multi-Modal Intelligent Transportation Signal System CSW Curve Speed Warning HIL Hardware in the Loop CAV Connected and Automated Vehicles

49 V2I Hub Advantages Scalable, efficient, and flexible Built-in message translation and plugin architecture reduces integration work and backend software Plugins reduce effort required to add functionality or connect to new devices Secure, remote access for monitoring, configuration, and software updates to reduce operations and maintenance efforts Cross cutting Provides connections between existing equipment and systems and future connected and automated vehicle technologies

50 V2I Hub Advantages Documentation explaining the design and architecture makes integration, operation, and maintenance easier Open-source platform increases flexibility and interoperability that proprietary systems inhibit Vendor neutral Efficient adoption of equipment from different manufacturers Interface to support custom and future applications and functionality Additional functionality can be added in-house or by third parties Specify in Procurement to maintain open architecture and future flexibility I believe the V2I Hub is an essential ingredient that will facilitate interoperability of the various programs being developed for future connected vehicle applications. - Jim Rose, Econolite Hardware Engineering Manager

51 V2I Hub Advantages SPaT Simplifies effort required to broadcast J SPaT Message Utilizes NTCIP 1202 Traffic Signal Controller Broadcast Message (TSCBM) data objects Currently supported by Econolite, McCain, and Siemens traffic

52 V2I Hub Advantages MAP Simplifies effort required to develop intersection geometry and broadcast J MAP Message Supports JSON data generated by USDOT s MAP Message Creation Tool

53 V2I Hub Adoption and Deployment Turner Fairbanks Highway Research Center NE Michigan Testbed University of Michigan Transportation Research Institute (UMTRI) Florida Traffic Engineering Research Laboratory approval for research deployment on Florida roadways Osceola County Austin, Texas Tampa CV Pilot City Siemens Roadside Unit

54 V2I Hub Adoption and Deployment V2I Hub Version 3.0 software has been posted to the Open Source Application Development Portal (OSADP) and is available to download Multi-Modal Intelligent Traffic Signal Systems (MMITSS) plugins to be released in June 2018 Operational Data Environment (ODE) plugin to be released in June 2018 The final software will be posted to the OSADP in September 2018

55 V2I Hub Adoption and Deployment Support documentation available in the near future: V2I Hub Guidebook V2I Hub Plugins V2I Hub Deployment Guide V2I Hub Software Configuration Guide V2I Hub Administration Portal User Guide V2I Hub Plugin Programming Guide Certified: T SC RSU GPS TMC M AP SPa T CSW V2I Hub FHWA evaluating additional test plans needed to support procurement of roadside equipment

56 Chris Stanley Leidos Saxton Transportation Operations Lab Program Manager Deborah Curtis FHWA Office of Operations Research & Development Connected Vehicle Support Services Toll-free # DOT-CVCS ( ) Business hours: Monday-Friday, 8:00AM - 5:00PM Toll-free #: DOT-CVCS ( )

57 On-Board Unit (OBU): Public Agency Perspective Faisal Saleem, Maricopa County Department of Transportation

58 V2I System and OBU DSRC 5.9 GHz Radio Connected Vehicle Infrastructure Equipment Road Side Equipment (RSE) MAP Data Digital Description of Roadway (D. Kelley, 2012) Communications Dialog Cooperative Applications Vehicle + Connected Vehicle Equipment On Board Unit (OBU) After Market Safety Device (ASD) 58

59 Definitions On-Board Unit (OBU) - A vehicle mounted device used to transmit and receive a variety of message traffic to and from other connected devices. Also referred to as On-Board Equipment (OBE) Aftermarket Safety Device (ASD ) - A connected device, not integrated during vehicle manufacture, but added after sale. It is installed in a vehicle, and capable of sending and receiving messages over a DSRC wireless communications link. The device has a driver interface, runs V2V and V2I safety applications, and issues audible or visual warnings and/or alerts to the driver of the vehicle. Source:

60 Role of OBU (in Application) Infrastructure side Vehicle side OBU RSU Positioning MAP SPaT SPaT and MAP over DSRC Lane Matching Phase Timing DVI showing Phase state and timing for the relevant lane Traffic Signal Controller Ethernet

61 RSU and OBU Differences Features RSU OBU Radios 2 2 (early version 1) Specification USDOT DSRC 4.1 FCC Licensing Required Vendor Installation Infrastructure Vehicle None/ Does not exist Power PoE DC (~12V) Cost Lower than RSU 61

62 OBU Sub-System DSRC Radio Units Antenna Data Logging Laptop/Tablet Interface Operating System Interface to CAN 62

63 On-Board Unit/ASD Other suppliers.. 63

64 Role of OBU in SPaT Challenge Roadside Unit is broadcasting SPaT and MAP How do we know That MAP and SPaT is actually being broadcast? How far from the RSU can it be received? Can RSU receive Basic Safety Message (BSM)? What other applications could be deployed with OBU and RSU? E.g. EV Priority/Preemption, Transit Priority, Freight Priority, Performance Observation, 64

65 Installation Considerations Where to locate the Antenna? Experience on Buses, Fire Trucks Power? Performance? Positioning Accuracy DSRC Range Data (BSM) What Applications? BSM Broadcast SPaT Receiver/Display Priority Request Generator (Signal Request Message) 65

66 Installation Examples Permanent? (MCDOT) 66

67 Installation Examples Adhoc (MCDOT) 67

68 Installation Examples CALTRANS Arada LocoMate mini 2 Savari MobileWAVE S103 Savari MW-1000 Number of Radios Standards DSRC Messages and Channels Channel 172: BSM, SPaT, and MAP Channel 182: SRM and SSM Channel 172: BSM, SPaT, MAP, SRM, and SSM Use of SDK? Yes Yes Yes Use of CAN? No No No 68

69 Installation Examples CALTRANS 69

70 Installation Examples UDOT 70

71 New York: ASD Request Request for Expression of Interest for ASD Generate market interest Evaluate vendor readiness Identify vendor commitment Seek vendor insight Review vendor commitment Identify approaches to certification Gain better understanding of installation requirements, packaging, and options

72 Installation Examples New York (USDOT CV Pilot) 72

73 Installation Examples SPaT Challenge: Simple Installation 73

74 Lessons Learned Procurement Considerations Configuration Installation Operations Performance 74

75 Webinar Wrap-Up and Q&A

76 Next SPaT Challenge Webinar Design Considerations, Part 2 April 17, :00pm ET Overview of MAP messages Examples of MAP message creation approaches Vehicle position correction needs and solutions DSRC licensing Registration: 76

77 Q&A Submit questions and comments in chat or Q&A section of webinar window Upcoming SPaT Challenge Webinars Design Considerations, Part 2 MAP Creator Tool Demonstration Design Considerations, Part 3 Deployment & Validation April 17, :00-3:30pm ET April 24, :00-2:30pm ET May 15, :00-3:30pm ET June 12, :00-3:30pm ET