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

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

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

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

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

6. 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

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

8. 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

9. CICAS Concepts

10. 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

11. 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)

12. Signal Violation Warning: Vehicle Approaching
Example Scenario

13. 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

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

15. 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

16. 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

17. 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

18. 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

19. 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

20. 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

21. 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