SunGuide : Connected Vehicle Concept of Operations

Transcription

1 SunGuide : Connected Vehicle Concept of Operations Prepared for: Florida Department of Transportation Traffic Engineering and Operations Office 605 Suwannee Street, M.S. 90 Tallahassee, Florida (850) February 08, 2012

2 Document Control Panel File Name: File Location: Created By: ConnectedVehicleConOps.docx SunGuide CM Repository Name Initial Date Robert Heller RWH 09/22/2010 Ken Irvin KDI 09/22/2010 Tucker Brown TJB 09/22/2010 Reviewed By: Robert Heller RWH 10/15/2010 Tucker Brown TJB 08/12/2010 Modified By: Completed By: Tucker Brown TJB 10/15/2010 Tucker Brown TJB 02/14/2011 Tucker Brown TJB 02/08/2012 February 14,

3 List of Acronyms BSM Basic Safety Message C2C.Center-to-Center DMS Dynamic Message Sign DSRC..Dedicated Short Range Communications FDOT...Florida Department of Transportation GUI.Graphical user Interface HAR...Highway Advisory Radio ICD.Interface Control Document ITS...Intelligent Transportation Systems LOA...Letter of Authorization NTP...tice to Proceed PVD...Probe Vehicle Data RPG Response Plan Generator RSE Roadside Equipment SDN Service Delivery de SwRI...Southwest Research Institute TAM...Traveler Advisory Message TMC...Traffic Management Center WC..World Congress XML...Extensible Markup Language February 14,

4 1. Introduction The Florida Department of Transportation (FDOT) plans to demonstrate Connected Vehicle functionality at the 2011 Intelligent Transportation System (ITS) World Congress (WC) Demonstrations in Orlando, FL (MCO). Among other demonstrations, the FDOT demonstration will consist of an Connect Vehicle modification of the FDOT SunGuide software; deployment of roadside infrastructure consisting of low-latency, secure communications (5.9 GHZ Dedicated Short Range Communications (DSRC)); enabling Connected Vehicle functionality for other demonstrators; distribution of Connected Vehicle and SunGuide data via the SunGuide Centerto-Center (C2C) interface. SwRI has experience in the development, integration and deployment of Connected Vehicle demonstration systems. This experience dates to 2004 and includes: Development of a cell phone based probe system The use of Connected Vehicle technology in our autonomous vehicle program where we have implemented vehicle-to-vehicle communications to facilitate vehicle control and safety systems We demonstrated the SwRI autonomous vehicle equipped with Connected Vehicle functionality at the 2008 ITS World Congress in New York City We demonstrated vehicle platooning of three DSRC equipped vehicles at the 2009 ITS America in Washington D.C. We demonstrated a cooperative convoy system in the 2009 Robotics Rodeo We demonstrated an autonomous advanced convoy and troop support concept at the 2010 Robotics Rodeo SwRI is the current SunGuide Support, Maintenance and Development consultant. SwRI is uniquely positioned in the ITS industry to take our Connected Vehicle development experience and combine it with our SunGuide knowledge to create a FDOT demonstration for the 2011 ITS World Congress. 2. System Operational Concept SwRI proposes to enhance the SunGuide software to transmit SunGuide generated traveler information to demonstration vehicles, to receive and utilize the Connected Vehicle Basic Safety Message (BSM), and provide SunGuide operator functions to view and utilize the Probe Vehicle Data (PVD) message received from demonstration vehicles. Operators will also be able to generate Traveler Advisory Messages (TAM) from SunGuide and send them to demonstration vehicles that pass by the Roadside Equipment (RSE). The format of these messages will be open to all demonstrators and give them the ability to interpret and display the messages in their own applications. SwRI will enhance the SunGuide software to receive the BSM and Probe Vehicle Data Message which will allow district operations to utilize a growing number of traffic probes without the need to install additional sensors. As part of the USDOT Safety Pilot, aftermarket devices are being developed to generate the SAE J2735 standard BSM that serves as a heartbeat to other vehicles for use in active safety systems. The BSM and Probe Vehicle Data Messages provide a richer set of data than traditional sensors deployed on the roadside. There are many different data February 14,

5 fields included in the messages and SwRI proposes that 5 to 10 probe data fields be selected at the design review in order to facilitate the development of the user interface for SunGuide operators. SwRI will enhance the SunGuide Graphical User Interface (GUI) allowing the operator to select a roadside sensor to display recent probe data received from the demonstration vehicles. The following figure shows the data flow through the proposed system. Please see Section 3 for details on the individual components. C2C DSRC Radio SunGuide Operator SAE J2735 Driver Connected Vehicle Subsystem SunGuide Operator Map Database Figure 1: Data Flow Diagram for Probe Data/BSM and Traveler Advisory Messages 2.1 Enhance SunGuide to Support Probe Data / BSM The most basic part of this enhancement is the gathering of data from the roadside devices. As vehicles pass the roadside devices, an in-vehicle unit would connect to the roadside device and relay information about the current state of the vehicle to the SAE J2735 driver for the new Connected Vehicle subsystem. The data transmitted via this protocol would then be converted to XML and sent to the subsystem where it could be analyzed and processed, and then sent as an update to the Operator Interface. The speed, heading, and position information gathered will be displayed to an operator. The additional information sent in the probe data messages (e.g. brake status, stability control status, and wiper status) will provide operators additional insight regarding the weather and traffic conditions of the roads being monitored. Operators could use this information and alert drivers to hazardous driving conditions by sending TAMs to the vehicles. Since both the Probe Data and BSM data have an included speed, the Connected Vehicle subsystem could monitor and alert operators when a speed has fallen below a configurable threshold. These alerts would work in a similar manner to how TSS alerts currently work in the system. 2.2 Traveler Advisory Messages (TAM) TAMs are generated by a Traffic Management Center (TMC) operator and sent to vehicles equipped to receive them. An operator would create a message and manually select the RSEs to broadcast the message. SunGuide would send the message to the selected RSEs which would send the message to equipped vehicles in the RSE vicinity. Upon receipt, the in-vehicle devices would display the TAM to the driver when they are in the presentation region defined by the February 14,

6 TAM. Message content could include travel times, hazardous roadway conditions, construction, traffic congestion and possible alternate routes, as well as the region in which vehicles would display the message and the times of day that the message is valid. SwRI will produce Interface Control Documents (ICDs) for TAMs during the development process to be released well in advance of the WC meeting to other demonstrators. Thus, other demonstrators could utilize the ICD and implement other demonstrations to interpret, display, or react to TAMs their equipment receives from RSEs. 2.3 Response Plan Enhancement SunGuide operators generate automatic response plans during traffic event management. Currently, SunGuide supports sending response plan messages to DMS and HAR devices as well as recipients and the Florida 511 system. SwRI proposes to enhance the SunGuide Response Plan Generator (RPG) in a manner that would generate messages for DSRC devices as well. In addition to selecting DMS and HAR for message dissemination, RPG would use the SunGuide device linking file to select RSEs within a configurable driving distance upstream of a traffic event. SunGuide would then send the message with event details (lanes affected) to the RSE for broadcast to vehicles. In essence, the vehicle s display becomes a moving DMS sign with targeted messages relevant to drivers near the selected RSE(s). 2.4 C2C Enhancement SwRI proposes to add two new Connected Vehicle data-types to the SunGuide C2C functionality. The first of these new Connected Vehicle data-types will provide vehicle probe data to external subscribers, i.e. other WC Connected Vehicle demonstrations. The second new Connected Vehicle data-type will provide an external agency (e.g. adjacent regional TMCs, local law enforcement, and other properly authenticated users) with ability to receive generated TAMs from a source other than the RSEs. 2.5 Service Delivery de (SDN) Connectivity Some of the legacy Connected Vehicle demonstration applications have a dependency on the SDN. Since they will require the probe data generated by the RSEs, this data must be made available to the SDN. SunGuide will be designed to forward on all Probe data and Traveler Advisory Messages to the SDN for their use. 3. System Design Components This project will leverage previously developed SunGuide and SwRI software (subsystem, driver, and on-board test software) to be integrated with the SunGuide system. Existing components within SunGuide will be enhanced to utilize this software subsystem. The proposed integration is shown in the following figure. February 14,

7 Figure 2: Changes to SunGuide February 14,

8 3.1 Operator Interface The modifications to the SunGuide GUI are the most visible part of this enhancement. These modifications include display of PVD message data and ability to send TAM to drivers in their vehicles. Icons representing each configured RSE will be added to the operator map in a manner analogous to current icon support. As with other icons, these would provide the option of showing the icon on the map and also changing the color values of different device states (Active, Offline, or Failed) per user. Clicking the icon will launch an operator dialog displaying information reported from the vehicles near that RSE. The information shown in this window will be derived from the PVD message and the BSM. The window shall display all RSE in a tabular format so all the data may be viewed at one time. The data for detection zones for a particular RSE may be viewed by expanding the line within the tabular view for the RSE of interest. Even though a single RSE may have multiple detection zones, when seen in a collapsed view of the RSE, the speed for the detection zone farthest under the configured threshold will be displayed. If none of the detection zones are under the configured threshold, the detection zone with a speed closet to its threshold will be displayed to the operator. Additionally, the operators will be able to view speed alerts for specific RSEs in the SunGuide Alert Box. These alerts would be triggered when the speed of a detector falls below a predefined value (alarm threshold). Operators could handle the alert by either creating a traffic event or acknowledging the alert. To prevent multiple alerts if the speed fluctuates above and below the alarm threshold, alerts would have to exceed another configurable threshold (near alarm threshold) before the being allowed to trigger a new speed alert. This behavior is consistent with the current alerting for TSS links. To send TAMs, SwRI will modify the GUI allowing an operator to select multiple RSE devices via a dialog similar in style to other SunGuide dialogs (e.g. DMS or HAR dialogs). The operator would enter a message, define the region, and active the message, sending the message to drivers. Unlike DMSs that only support displaying a single message at a time, each RSE is capable of broadcasting numerous TAMs, each with a potentially unique region in which it would be active. 3.2 Event Management Adding support for RSE messaging to RPG will require modifications to the Event Management subsystem. This will include adjusting database tables to allow for the new message type, including communication with the Connected Vehicle subsystem to determine available devices, and generating recommended messages for DSRC devices based on a message template. For purposes of this demonstration, the DSRC message template may be a single template defined in the SunGuide configuration file. 3.3 Connected Vehicle Subsystem Each PVD message and BSM to the subsystem will be from a specific vehicle passing an RSE. The subsystem will be able to take those messages and calculate aggregate information. It will keep rolling averages on speed data sent from vehicles. It will also register, when available, the extra data agreed upon during the design review and aggregate or display the information, depending on what makes sense to the operators. The subsystem will also log incoming messages in the database. Once the values are calculated they would then be sent to the GUI to update the data shown to the operators. February 14,

9 The subsystem will also manage the TAMs and the associated RSE(s) responsible for broadcasting each message. The following table is a list of messages in the J2735 standard and indicates which messages will be used as part of this enhancement. J2735 Message Included Description AlaCarte Any data frame or element or combination thereof defined in J2735. Primarily used for testing. Sent from every vehicle at 10Hz continuously. Contains the following vehicle information: location (latitude, longitude, elevation), heading, speed, 4-D acceleration (latitudinal, longitudinal, vertical, yaw), brake status Basic Safety Message (brake applied for each wheel, traction control state, ABS Yes (BSM) state, stability control state, brake boost applied, auxiliary brake status), and vehicle size (length, width). Typically a vehicle-to-vehicle message, however it can be received by RSEs to provide additional vehicle probe data to the infrastructure. Common Safety Request (CSR) Emergency Vehicle Alert (EVA) Intersection Collision Avoidance Map Data NMEA-Corrections Probe Data Management (PDM) Probe Vehicle Data (PVD) Roadside Alert RTCM-Corrections Yes A vehicle-to-vehicle message that allows a vehicle to request additional information (from BSM data) from specific other vehicles to determine their ability to utilize certain safety applications. A vehicle-to-vehicle message sent from incident responders to notify surrounding vehicles that they should exercise additional caution. Sent from a vehicle to an intersection collision application containing recent paths and accelerations of the vehicle. Wrapper to relay any defined map data in the standard to vehicles (complex intersection descriptions, curve outlines, roadway segments for platooning, etc). To send NMEA 183 style differential corrections to GPS applications in vehicles. Sent from the infrastructure to vehicles to specify (nondefault) vehicle probe data collection frequencies, regions, and event thresholds. Periodic data snapshots sent from vehicles to the infrastructure, containing vehicle location, heading, speed, and various optional data from available sensors on the vehicle (including weather data, information on lights and wipers, among other items). Sent from the infrastructure to vehicles regarding hazards in the immediate area. To send RTCM differential corrections to positioning applications in vehicles. February 14,

10 J2735 Message Included Description Signal Request Message Signal Status Message Signal Phase and Timing Traveler Information Message Yes Sent from a vehicle to an RSE associated with an intersection signal controller to request signal priority or preemption. Sent from an intersection RSE to vehicles with the current status of the signal and active preemption/priority events acknowledged. Sent from an intersection RSE to vehicles with the current movement state and each active phase in the signal controller. Sent from the infrastructure to vehicles with information to display to drivers and the specific region(s) and time to display it. Each message can be one of the following: Advisory: typical ITIS warning or text Work zone: work zone signs and/or directions Generic sign: MUTCD signs and/or directions Speed limit: speed limits and cautions Exit service: available roadside services 3.4 C2C SwRI will modify the SunGuide C2C Plug-In to support the new Connected Vehicle data-types of PVD and BSM data as well as the externally defined TAMs. The C2C ICDs will be extended to include these data-types. 3.5 Database Storage The Connected Vehicle subsystem will store Connected Vehicle data in the SunGuide database. Storage of the data allows subsequent data analysis. The database logging will allow system administrators to specify what data to store, what frequency to store the data and for what duration the data will be stored. 3.6 Admin Editor SwRI will extend the SunGuide Administrative Editor (AE) to allow an administrator to configure the required Connected Vehicle devices (RSEs) within SunGuide. 4. Cost and Schedule Estimate. SwRI has estimated the cost of this SunGuide software modification including definition, design, development, and testing to be $499,989. The modification will be done under the terms of the contract for a Moderate release and can be accomplished in an eight month duration. 5. Conclusion In conclusion, SwRI believes this work will allow FDOT to leverage previously developed SwRI software and the planned 2011 ITS World Congress Demonstrations to highlight the architecture February 14,

11 and capabilities of the SunGuide software, and SunGuide s ability to support Connected Vehicle functionality. This capability will also position FDOT well for future Connected Vehicle related efforts. February 14,