1. 1 CAMP – Vehicle Safety Communications 2 Consortium proprietary CICAS-V Project Update June 5, 2007 Michael Maile Vehicle Safety Communications 2 Consortium CAMP Intelligent Transportation Systems

2. 2 CAMP – Vehicle Safety Communications 2 Consortium proprietary Project Overview CICAS-V is a 4 year project to develop Cooperative Intersection Collision Avoidance Systems that CICAS-V is a 4 year project to develop Cooperative Intersection Collision Avoidance Systems that  Prevent crashes between vehicles due to violations of traffic signals  Prevent crashes between vehicles due to violations of stop signs This crash prevention applies to all types of crossing path crashes that have their origin in violations, such as SCP, LTAP, etc. This crash prevention applies to all types of crossing path crashes that have their origin in violations, such as SCP, LTAP, etc. CICAS-V uses 5.9 GHz DSRC for the communication between intersection and vehicle CICAS-V uses 5.9 GHz DSRC for the communication between intersection and vehicle

3. 3 CAMP – Vehicle Safety Communications 2 Consortium proprietary Project timeline

4. 4 CAMP – Vehicle Safety Communications 2 Consortium proprietary Major Project Participants

5. 5 CAMP – Vehicle Safety Communications 2 Consortium proprietary On Board Equipment (OBE) Traffic Signal Violation warning Traffic signal information Lane 1 Status red 4 sec Lane 2 Status red 4 sec Lane 3 Status green Positioning Correction Warning Intersection Traffic Control Device DSRC radio Processor GPSGID storage Road Side Equipment (RSE)

6. 6 CAMP – Vehicle Safety Communications 2 Consortium proprietary Project status Development of a Transport Object Message framework that unifies the message structure for all the CICAS messages Development of a Transport Object Message framework that unifies the message structure for all the CICAS messages Development of the Message Sets Development of the Message Sets Development of drafts of Concept of Operations, Functional Requirements, System Requirements, System Architecture and Performance Specifications Development of drafts of Concept of Operations, Functional Requirements, System Requirements, System Architecture and Performance Specifications Installation of CICAS-V equipped intersections in California and Michigan Installation of CICAS-V equipped intersections in California and Michigan

7. 7 CAMP – Vehicle Safety Communications 2 Consortium proprietary Project Status, cont. Development of positioning correction, lane matching algorithm and warning algorithm Development of positioning correction, lane matching algorithm and warning algorithm Mining of VTTI 100 Car Database for causal factors for violations Mining of VTTI 100 Car Database for causal factors for violations Investigation of several driver-vehicle interfaces Investigation of several driver-vehicle interfaces Collection of naturalistic intersection approach data for stop sign and traffic signal controlled intersections using radar Collection of naturalistic intersection approach data for stop sign and traffic signal controlled intersections using radar

8. 8 CAMP – Vehicle Safety Communications 2 Consortium proprietary Project Status, cont. Development of in-vehicle Data Acquisition System Development of in-vehicle Data Acquisition System Start of developing the final CICAS-V prototype together with DENSO Start of developing the final CICAS-V prototype together with DENSO

9. 9 CAMP – Vehicle Safety Communications 2 Consortium proprietary Intersection installation in California The first CICAS-V equipped intersection was set up in cooperation with Caltrans and UC Berkeley PATH The first CICAS-V equipped intersection was set up in cooperation with Caltrans and UC Berkeley PATH The intersection went live in mid February and has been working uninterruptedly since then The intersection went live in mid February and has been working uninterruptedly since then Intersection is located at 5 th Ave and El Camino Real in Atherton in the San Francisco Bay Area Intersection is located at 5 th Ave and El Camino Real in Atherton in the San Francisco Bay Area

10. 10 CAMP – Vehicle Safety Communications 2 Consortium proprietary Fifth and El Camino detail

11. 11 CAMP – Vehicle Safety Communications 2 Consortium proprietary CA intersection pictures

12. 12 CAMP – Vehicle Safety Communications 2 Consortium proprietary 2070 LMR-400 6 dBi DSRC antenna Antenna mount Cable straps Serial Fiber pair Controller Cabinet DGPS antenna NEMA Eth 3G DigiRouter modem Fiber pair Eth Backhaul F2E Eth Inverted WiFi Eth Serial DGPS MCNU 110VAC 12VDC PS 340W 12VDC terminal block E2F S2E Schematic of intersection build

13. 13 CAMP – Vehicle Safety Communications 2 Consortium proprietary Intersection installation in Michigan The CICAS-V intersection in Michigan (Orchard Lake and 10 Mile Rd) was set up in cooperation with the Road Commission of Oakland County (RCOC) in April 2007 The CICAS-V intersection in Michigan (Orchard Lake and 10 Mile Rd) was set up in cooperation with the Road Commission of Oakland County (RCOC) in April 2007 The intersection sends out the identical message sets to the one in CA but uses a different controller and protocol. The intersection sends out the identical message sets to the one in CA but uses a different controller and protocol.

14. 14 CAMP – Vehicle Safety Communications 2 Consortium proprietary Intersection in Michigan

15. 15 CAMP – Vehicle Safety Communications 2 Consortium proprietary Intersection Setup in Michigan CICAS Cabinet with RSE and GPS GPS and DSRC Antenna Mounting CICAS-V Intersection Setup

16. 16 CAMP – Vehicle Safety Communications 2 Consortium proprietary Installing at 10 Mile and Orchard Lake intersection in Farmington (Michigan) Michigan Intersection MCNU Eagle EPAC 3108 M52 UDP Ethernet (10Mbps) X-over cable 12V 30A Power Supply GFCIGFCI 110VAC Circuit Protection Novatel GPS RCOC Cabinet (no access) CICAS-V Cabinet Garmin GPS RS232 DSRC 802.11a GPS GFCIGFCI Circuit Protection 12V Power Supply *all antennas mounted on ~10m mast

17. 17 CAMP – Vehicle Safety Communications 2 Consortium proprietary Future work Development of the final prototype Development of the final prototype Finalizing the Driver Vehicle Interface Finalizing the Driver Vehicle Interface Engineering tests of the intersection and vehicle prototype Engineering tests of the intersection and vehicle prototype Pilot-FOT with naïve drivers Pilot-FOT with naïve drivers

18. 18 CAMP – Vehicle Safety Communications 2 Consortium proprietary Vehicle Safety Communications – Applications (VSC-A)

19. 19 CAMP – Vehicle Safety Communications 2 Consortium proprietary Introduction 3 year project - December 2006 to November 2009. 3 year project - December 2006 to November 2009. Collaborative effort between 5 OEMs (DCX, Ford, GM, Honda & Toyota) and US DOT (+ Volpe & Mitretek). Collaborative effort between 5 OEMs (DCX, Ford, GM, Honda & Toyota) and US DOT (+ Volpe & Mitretek). Goal: Determine if DSRC @5.9 GHz & vehicle positioning can improve upon autonomous* vehicle-based safety systems and/or enable new communication-based safety applications. Goal: Determine if DSRC @5.9 GHz & vehicle positioning can improve upon autonomous* vehicle-based safety systems and/or enable new communication-based safety applications. Follow-on project to CAMP/DOT VSC (2002-2004) project and CAMP internal EEBL** project. Follow-on project to CAMP/DOT VSC (2002-2004) project and CAMP internal EEBL** project. Strong emphasis on resolving current communication and vehicle positioning issues so that interoperable future deployment of DSRC+Positioning based safety systems will be enabled. Strong emphasis on resolving current communication and vehicle positioning issues so that interoperable future deployment of DSRC+Positioning based safety systems will be enabled. * The word ‘autonomous’ is used to indicate that no cooperation from other vehicles or the infrastructure is required. ** Emergency Electronic Brake Lights

20. 20 CAMP – Vehicle Safety Communications 2 Consortium proprietary Objectives 1. Assess how previously identified critical safety scenarios in autonomous systems could be addressed and improved by DSRC+Positioning systems. 2. Define set of DSRC+Positioning based vehicle safety applications and application specifications including minimum system performance requirements. 3. In coordination with NHTSA and VOLPE, develop a well understood and agreed upon benefits versus market penetration analysis, and potential deployment models for a selected set of communication-based vehicle safety systems.

21. 21 CAMP – Vehicle Safety Communications 2 Consortium proprietary Objectives - continued 4. Develop scalable, common vehicle safety communication architecture, protocols and messaging framework (interfaces) necessary to achieve interoperability and cohesiveness among different vehicle manufacturers. Standardize this messaging framework and the communication protocols (including message sets) to facilitate future deployment. 5. Develop accurate and affordable vehicle positioning technology needed, in conjunction with the 5.9 GHz DSRC, to support most of the safety applications with high potential benefits. 6. Develop and verify set of objective test procedures for the vehicle safety communications applications.

22. 22 CAMP – Vehicle Safety Communications 2 Consortium proprietary 200720082009 VSC-A Research Activities and Timeline Problematic scenarios & safety apps. selection DSCR+Positioning safety system conops, requirements and minimum systems specs. Relative vehicle positioning development DSRC+Positioning and autonomous sensing safety system analysis - Paper study System architecture, standardized messages, security and communication protocols Objective test procedures development Coordination with standards development activities and other USDOT programs SAE, IEEE DSRC, CICAS-V, VII, Europe Car2Car, Japan ASV Vehicle safety system test bed System design, algorithms (path prediction, threat, warning) & in-vehicle integration System testing and objective test procedures validation Benefit analysis support to USDOT, Volpe & Mitretek) Level I test bed implementation Level II test bed implementation

23. 23 CAMP – Vehicle Safety Communications 2 Consortium proprietary VSC-A System Test Bed VSC-A System will consist of multiple safety applications running simultaneously. VSC-A System will consist of multiple safety applications running simultaneously. Initial list consists of: Initial list consists of: Safety Features Applicable NHTSA Crash Categories Emergency Electronic Brake Lights (EEBL) Rear-end crashes Stopped Vehicle Ahead Warning (SVA)Rear-end crashes Blind Spot and Lane Change Warning (LCW)Lane change crashes Forward Collision Warning (FCW)Rear-end crashes Pre-Crash Sensing and Collision Mitigation (PCS & CM) Crash mitigation Curve Speed Warning (CSW)Road departure crashes Do-not-pass WarningOn-coming crashes Intersection Movement AssistIntersection crashes No DVI optimization or Human Factors work is planned as part of this project – Only engineering DVIs are planned. No DVI optimization or Human Factors work is planned as part of this project – Only engineering DVIs are planned.

24. 24 CAMP – Vehicle Safety Communications 2 Consortium proprietary January 2007List of initial critical target scenarios identified by NHTSA from earlier research and FOTs May 2007VSC-A team and NHTSA jointly finalize list of safety applications for VSC-A system November 2007Task 5 Interim Report – Initial system concept, minimum specifications, message composition, security and vehicle positioning February 2008System concepts of operation and minimum system performance requirements. May 2008VSC system level I implementation January 2009Objective Test Plan defined March 2009VSC-A system level II implementation November 2009Final Project Briefing and Report – project ends. VSC-A Major Milestones