Cooperative Intersection Collision Avoidance Systems Initiative May 2005, ITS America Annual Meeting Mike Schagrin ITS Joint Program Office U.S. Department of Transportation

Why The Concern About Intersections In 2003, approximately: 9500 FATALITIES 1,300,000 INJURIES 2,600,000 CRASHES Cost to society  $100 Billion

Intersection Problem Areas Being Addressed Stop sign and signal violations Gap assistance Left turn across path of on-coming traffic Stop sign movement assist

Accident Causal Factors Impaired drivers Aggressive drivers Inexperienced / Elderly drivers Obstructed vision (limited sight lines) Other (Presence of peds, bicyclers, poor weather, etc.)

Range Of Possible Countermeasures Warn the Driver Modify Signal Timing Partial Vehicle Control Full Vehicle Control

CICAS Program Goals To develop and demonstrate cooperative intersection collision avoidance systems To assess the value and acceptance of cooperative collision avoidance systems To develop and provide tools to support industry deployments

CICAS Partners Public / Private/Academia DAIMLERCHRYSLER DaimlerChrysler Research and Technology North America, Inc.

Progression of CICAS Applications Vehicle-To-Vehicle Communications Countermeasure High DSRC market penetration Minimal infrastructure Violation and Gap applications Complexity, Comprehensiveness Gap Assist Countermeasure Warning of crashes in the intersection box due to distance misjudgments Traffic Signal/Stop Sign Countermeasure Warning of a potential violation and crash Time

CICAS Concepts

Cooperative Violation Countermeasure Concepts The basic capability is for the vehicle to provide stop sign and traffic signal violation warnings The intersection could provide an infrastructure based countermeasure (e.g., adjust signal timing) resulting from the vehicle sending a warning notification The vehicle could exert some type of vehicular control countermeasure

Cooperative Violation Countermeasure Scenario Current phase Time to phase change Infrastructure to Vehicle Geometric Map Signal Controller Info Differential Correction Road Surface Conditions Roadside Unit DSRC Processor DGPS Intersection Map Vehicle System DSRC Safety Processor GPS Vehicle Sensors Driver Vehicle Interface (DVI) Driver Vehicle Interface (DVI) Driver Vehicle Interface (DVI)

Signal Violation Warning: Vehicle Approaching Example Scenario

Cooperative Violation Countermeasure Scenario Infrastructure to Vehicle Geometric Map Signal Controller Info Differential Correction Road Surface Conditions Current phase Time to phase change Signal timing adjustments Roadside Unit DSRC Processor DGPS Intersection Map Vehicle System DSRC Safety Processor GPS Vehicle Sensors Driver Vehicle Interface (DVI) Vehicle to Infrastructure Alert issued Dynamic Info

Areas of R&D for Violation Countermeasures Wireless Communication (DSRC) Human Factors DVI Traffic Control Interface Threat Assessment Positioning Enhancement

Gap Assist Countermeasure Concept Gap assist builds upon the violation concepts and technologies and adds stop sign and left turn gap assistance Countermeasures include both in-vehicle and infrastructure-based warnings Vulnerable road users such as pedestrians and bicyclists are addressed Additional vehicle control capabilities will also be investigated

Gap Assist Countermeasure Scenario Roadside Unit DSRC Processor DGPS Intersection Map Dynamic Objects Dynamic Intersection Mapping Geometric Map Geometric Map Signal Controller Info Differential Correction Road Surface Conditions Signal Controller Info Vehicle System DSRC Safety Processor GPS Vehicle Sensors DVI Infrastructure to Vehicle Vehicle to Infrastructure Alert issued Dynamic Info Sensor Fusion Intersection Sensors

Dynamic Mapping Example Vehicle id (can be arbitrary) 1 2 3 … M Distance from intersection in m 15 95 40 97 Lane 10 Speed in mph or m/s 35 37 45

Gap Assist Countermeasure Scenario Roadside Unit DSRC Processor DGPS Intersection Map Dynamic Objects Dynamic Intersection Mapping Geometric Map Geometric Map Signal Controller Info Differential Correction Road Surface Conditions Signal Controller Info Vehicle System DSRC Safety Processor GPS Vehicle Sensors DVI Infrastructure to Vehicle Vehicle to Infrastructure Alert issued Dynamic Info Sensor Fusion DVI (gap assist) Intersection Sensors

Areas of R&D for Gap Assist Countermeasures Violation Countermeasures Gap Assist Countermeasures Wireless Comm. (DSRC) Human Factors DVI Traffic Control Interface Threat Assessment Positioning Enhancement refinement Human Factors DVI (gap), DII Conflict resolution Not Applicable Threat Assessment (gap) Sensor/data fusion Dynamic Intersection Mapping

Vehicle-to-Vehicle Communications Research Research effort, specifically examining the creation of a dynamic intersection mapping capability by vehicle to vehicle communications Implementation of such a system would require significant DSRC market penetration and therefore is not envisioned as a near term deployment option Such a system could extend capability to both uninstrumented intersections and other non-intersection applications

Prototyping (Violation) CICAS Roadmap 7/04 3/05 11/05 7/06 3/07 11/07 7/08 3/09 11/09 2 Years Preparatory Analyses Prototyping (Violation) Real World Testing (DVI) Real World Testing (DII) Real World Testing 2 Years Prototyping (Gap) DVI Independent Evaluation Concept of Operations Violation Demo (DVI) Gap Demo (DII) Gap Demo (DVI) DVI – Driver Vehicle Interface DII – Driver Infrastructure Interface