1. FHWA Office of Operations Research and Development Executing the Vehicle-to-Infrastructure Research Program: Enabling Technology
Deborah Curtis
<Greeting>
The concept for Vehicle to Infrastructure (V2I) applications supporting safety, mobility and the environment has as its foundation underlying enabling technology, standards, and policies.
This morning I will be talking with you about the underlying enabling technologies, which corresponds to V2I track 1 activities. There are three tracks in the V2I program….

2. V2I Communications – Major Activities
This diagram illustrates how the three V2I tracks fit together.
I will focus on track 1 enabling technologies, which is the top oval. The enabling technology interacts with work to develop all V2I applications, including Safety, Mobility, and the Environment. The speakers following me will talk with you about the applications in these areas.
Track 1, Enabling Technologies will culminate in the V2I Reference Implementation, which will include the standards, specifications and interfaces for hardware and firmware that can be used in the connected vehicle environment. The V2I Reference Implementation will also include a physical manifestation, a complete system of the hardware and firmware that can be used to evaluate potential applications and be used to insure new systems are compatible and interoperable with other components.
Source: USDOT 2013

3. V2I – Enabling Technologies
Goal – Develop and integrate the infrastructure components necessary to provide the foundation for V2I deployment
Signal Phase and Timing (SPaT)
Mapping
Positioning
Communications
Roadside Equipment (RSE) Device
Integrated V2I Prototype
The Integrated Prototype is a step along the way to the Reference Implementation.
The V2I enabling technologies are the critical technology underpinnings that are essential to the full suite of safety, mobility, and environmental applications. Enabling technologies that are addressed by the V2I program include: SPaT, mapping, positioning, communications, roadside equipment (RSE) device, and integrated prototype.
Some of the components of the V2I Reference Implementation include an updated Signal Phase and Timing (SPaT) message set with map and GPS correction signal. Other potential firmware changes in a connected vehicle controller are signal logic revisions that allow for a more interactive, adaptive signal control that provides mobility and environmental benefits along with information for vehicle-based safety applications.
Given our limited time today and that many of you may be familiar with this track, I will just give a brief description of these technologies and focus on where the projects stand on the research - current activities and planned near-term steps.

4. Signal Phase and Timing (SPaT) & Related Messages
Goal – Develop an interface between signal controllers and RSE device to enable 2-way data exchange between vehicles and controllers
SPaT data
Geometric intersection description (GID)
Signal request messages
Position correction message
Standards to promote interoperability
Goal of the SPaT Project…
SPaT Data
Signal state by movement
Min/max time remaining by movement
Exact time remaining in yellow
Geometric intersection description (GID)
Signal request messages (Emergency vehicle preemption, transit signal priority, etc.)
Position correction message
Need for standards to promote interoperability!
NTCIP 1202 and 1211
SAE J2735

5. Signal Phase and Timing (SPaT)
Past and current activities
Interface testing at Safety Pilot
12 intersections equipped with Siemens and Econolite controllers
Transit application using SPaT data
SPaT data logged to facilitate future application development
Lessons learned from Safety Pilot and other studies, and industry comment, will be used to refine the SPaT message
Planned near-term steps
Analyze SPaT Prototype in Affiliated Test Beds to support field testing of Multi-Modal Intelligent traffic Signal System (MMITSS)
Refine SPaT and MAP messages and software to conform to final balloted version of J2735.
Here are the past and current activities within the SPaT program….
…Also, I want to point out that safety, mobility and environmental V2I applications will need SPaT data.
Program planned near-term steps include…

6. Mapping
Goal – Collect relevant roadway geometry and attributes data and broadcast It for use in V2I applications
Supporting activities
Initial research proved concept of generating and broadcasting maps for V2I applications
LIDAR and 360 optical are promising technologies for developing the initial map; other technologies promising for map updates
Planned near-term steps
Work with ITS Standards Program to identify gaps in standards and actions going forward, and harmonize with international standards effort
Assess role in overall Digital Infrastructure initiatives.
Vehicle mounted technologies solution (LIDAR) provides the most detailed data for use as a core mapping solution
LIDAR is relatively costly, requires skilled personnel and equipment
Converting raw data into usable layers is labor intensive process -needs to be automated for large scale deployment, need standard
Opportunities to leverage other users (e.g. asset management)
The other mapping solutions are useful for change detection and mapping under certain conditions
Collection, preparation, and use of mapping data completed at the TFHRC Testbed May 2012.
Three lane-level applications were demonstrated using decimeter-level positioning techniques
Lane departure warning
Curve speed warning
Signal Phase and Timing, at lane-level
Possible additional notes
The solution is able to capture the most variety of features accurately and reliably
Many key aspects of the solution can ultimately be automated, a key requirement for large scale deployment
The solution provides data collection opportunity to meet several needs beyond connected vehicle thus has the potential for synergistic effort development
The solution Can be more easily integrated into current mapping stakeholder activities including pavement monitoring programs as well as roadway asset mapping and inventory

7. Positioning and mapping are closely related
Goal – Ascertain which current or near-term positioning technologies can meet requirements of V2I applications
Current activities
Wrapping up unit testing of technologies ongoing at Connected Vehicle Highway Testbed (CVHT) located at TFHRC
GPS combined with IMU provide the best of all positioning solutions
Planned near-term steps
Complete development of positioning correction messages
Additional research at CVHT to integrated positioning technologies within the connected vehicle environment
The goal of the Positioning program is…
Current activities include…
Our planned near-term steps are…
Possible additional information to share on positioning includes:
Accurate vehicle position at intersection is critical
SPaT information is based on a phase to lane assignment
Requires lane-level accuracy
Testing of technologies at the CVHT is ongoing
Baseline OEM grade GPS
Inertial Measurement Units
GPS Code and carrier phase solutions (correction messages)
Positioning and mapping are closely related.
Positioning and mapping are closely related

8. Communications
Goal – To test multiple communication technologies for potential use in V2I applications
Current activities
Develop test plans to assess the most promising technologies
5.9 GHz DSRC
Cellular 4G/LTE
Monitoring ongoing NTIA study
Planned near-term steps
Continue to investigate DSRC bandwidth issues (e.g. data transfer frequency, packet drops) using lessons learned from Safety Pilot
Document the technologies that were tested in the laboratory field test at CVHT in fall 2013 and early 2014.
The goal of the Communications program is to test multiple communication technologies for potential use in V2I applications. This includes
Quantifying capabilities of the technologies against requirements of key V2I applications,
Developing test plans to asses the most promising technologies, which we are currently doing
DSRC has limited bandwidth and footprint . DSRC spectrum may be impacted by other uses. We are monitoring ongoing NTIA study.
Our planned near-term steps include…

9. Roadside Unit (RSU) Device
Goal – Foster the development of RSU device that meets the requirements of the connected vehicle program
Past and current activities
Hosted stakeholder workshop on August 8, 2013
Conducting weekly teleconferences
Final Stakeholder conference call held in early March 2014
Version 4.0 of the specification was published on April 15, 2014
Planned near-term steps
Revision to latest RSU device specification test plans
Assist in setting up independent test labs for certification testing of devices
Conduct functional testing of units conforming to new 4.0 specification at the CVHT at TFHRC in fall 2014.
Goal: Foster the development of RSE that meets the requirements of the connected vehicle program
5 vendors participated in prototype efforts.
We are continuing to refine of the RSE device based on Safety Pilot results.
A major planned next step is to revise the latest RSE device specification. This effort will involve workshops and direct communication and interactions with a variety of stakeholders in the connected vehicle community.
We want to identify the full range of requirements for a deployed RSE device.

10. Integrated V2I Prototype
Goal – Develop a comprehensive prototype solution to connected vehicle infrastructure needs
Incorporate all parts of track 1 to work seamlessly to enable V2I applications
Integration and testing of a complete infrastructure system
Data flows
Information exchange
Standards
Current activities
Architecture completed and vetted with both internal and external stakeholders.
Requirements also completed and reviewed by USDOT program Managers.
I mentioned at the beginning of my presentation the Reference Implementation, so I will end my talk with more details about this activity and current planned next steps.
Track 1, Enabling Technologies will culminate in the V2I Reference Implementation, which will include the standards, specifications and interfaces for hardware and firmware that can be used in the connected vehicle environment. The step towards the RI is an Integrated V2I Prototype. The Integrated Prototype is just that … it is a roll-up of each technology from track 1 one layer at a time into an Integrated V2I Prototype. To have a complete infrastructure system – with data flows, information exchange, and standards.
For our planned next steps, we have awarded Battelle a contract to develop the prototype. Contract was awarded 9/9/2013 and PoP is 12 months.

11. V2I Deployment Guidance
June 2014 – Draft guidance undergoing internal review
Fall Outreach workshop to stakeholders
AASHTO
World Congress
Mid Deployment Guidance tools
End of calendar year Entire deployment guidance package

12. Deployment Guidance Documentation
Policy Statement
Planning
Federal-Aid Eligibility of V2I Equipment and Operations
V2I Deployments and NEPA
Interoperability
Evaluation
ITS Equipment Capability and Compatibility
Reliability
Use of Right-of-Way
Private Sector Use
Design Considerations
Use of Existing Structures and Infrastructure
Equipping Public Sector Fleets
Procurement Process
Tecnologies
Privacy
Data access P3

13. Tools Systems Engineering Processes Benefit Cost Analyses
Planning Guide
Cyber-Security guide
Licensing
Equipment selection
Message format and lexicon
Lessons learned from initial deployments
Deployment warrants

14. For More Information
Contact: Deborah Curtis, Project Manager Office of Operations Research and Development