Multi Modal Intelligent Traffic Signal System Larry Head - - PowerPoint PPT Presentation

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Multi Modal Intelligent Traffic Signal System Larry Head - - PowerPoint PPT Presentation

Apr 13, 2023 367 likes •677 views

Multi Modal Intelligent Traffic Signal System Larry Head University of Arizona 1 Connected Vehicles and Infrastructure Systems DSRC 5.9 GHz Radio BSM/SRM Signal Phase and Timing (SPaT) MAP Connected Vehicle Vehicle(s)

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SLIDE 1

Multi Modal Intelligent Traffic Signal System

Larry Head University of Arizona

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SLIDE 2

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Connected Vehicles and Infrastructure Systems

Vehicle(s)… On Board Unit (OBU) After Market Safety Device (ASD) + Connected Vehicle Equipment Connected Vehicle Infrastructure Equipment Road Side Unit (RSU) Cooperative Applications:

  • Transit Priority
  • Truck Priority
  • Emergency Vehicle Priority
  • Adaptive Signal Control
  • Pedestrian Applicaiton

DSRC 5.9 GHz Radio

  • BSM/SRM
  • Signal Phase and Timing (SPaT)
  • MAP

MAP Data Digital Description of Roadway

(D. Kelley, 2012)

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SLIDE 3

Connected Vehicle Infrastructure Equipment Road Side Unit (RSU)

SAE J2735 Message Set SAE J2945/0 Minimum Performance Requirements

Connected Vehicles

Technology, Equipment and Standards

5.9 GHz DSRC Wireless IEEE 1609 DSRC Roadside Unit (RSU) Specifications Docum ent v4.1 (USDOT October 31, 2016)

Ethernet IEEE802.3

NTCIP 1202, 1211 Messages

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SLIDE 4

Basic Mobility Applications…

(not vehicle safety)

  • What traffic signal applications could be built

using BSM/MAP/SPaT data?

  • Performance Observation
  • Travel Time, Delay, Stop, Arrival on Red, Arrival on Green, Queue

Length,…..

  • By Movement (e.g. thru, left turn, right turn)
  • By Mode (vehicles, transit, trucks, pedestrians, bicycles,…)
  • Basic Traffic Control
  • Phase Call, Phase Extend, Dilemma Zone Protection
  • Adaptive Traffic Control
  • Dynamic Phase Time (Green Allocation)
  • Optimal Signal Timing
  • Priority for Special Modes of Vehicles
  • Emergency Vehicles, Transit, Trucks, Pedestrians
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SLIDE 5

The Multi Modal Intelligent Traffic Signal System Program

  • University of Arizona
  • Larry Head (PI), Sherilyn Keaton
  • GRA: Byungho Beak (PhD 2017), Sara Khosravi (PhD 2017), Bhanu Meka (ECE MS 2017),

Shayan Khoshmagham (PhD 2016), Yiheng Feng (PhD 2015), Jun Ding (ECE PhD 2013), Qing He (PhD 2010)

  • UG: Drake Sitaraman, Sage Masten-Leake, Jane Gatzemeier
  • Medhi Zamanapour (NAS/FHWA, PhD 2016)
  • PATH/UC Berkeley
  • Kun Zhou (co-PI)
  • Huadong Meng (Research Engr), John Spring (Software Engr)
  • David Nelson (Hardware Engr)
  • Maricopa County DOT (Faisal Saleem), California DOT (Greg Larson)
  • UVA (Brian Smith, Hyungjun Park), Virginia DOT (Virginia Lingham)

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Funded as Connected Vehicle Pooled Fund Project (FHWA, MCDOT, Caltrans, VDOT, FDOT, MnDOT, TxDOT,…)

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SLIDE 6

A Traffic Control System

MMITSS Basic Concepts

Section 1

  • Priority for
  • Freight

Priority Hierarchy

  • Rail Crossings
  • Emergency Vehicles
  • Freight
  • Coordination
  • Transit
  • BRT
  • Express
  • Local (Late)
  • Passenger Vehicles
  • Pedestrians

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SLIDE 7

A Traffic Control System

MMITSS Basic Concepts

Section 2

  • Priority for
  • Transit
  • Pedestrians

Priority Hierarchy

  • Rail Crossings
  • Emergency Vehicles
  • Transit
  • BRT
  • Express
  • Local (Late)
  • Pedestrians
  • Passenger Vehicles
  • Freight

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SLIDE 8

A Traffic Control System

MMITSS Basic Concepts

Real-Time Performance Measures – by mode, by movement

  • Volume (mean, variance)
  • Delay (mean, variance)
  • Travel Time (mean, variance)
  • Throughput (mean, variance)
  • Stops (mean, variance)

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SLIDE 9

MMITSS Architecture

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SLIDE 10

MMITSS Characteristics

  • Uses Connected Vehicle Data
  • BSM, MAP, SRM, SSM, (SPaT)
  • ISIG: Adaptive Control
  • RT-TRACS, RHODES, COP, OPAC,…
  • PRIORITY (EVP

, TSP , FSP): Priority Request Server (MRP)/Generator (OBU)

  • TCRP A-16, NCHRP 3-66, NTCIP 1211
  • PEDSIG
  • Smartphone APP

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SLIDE 11

MMITSS Software (AZ)

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SLIDE 12

MMITSS Priority Control

  • Integrated approach to Signal Control and Prioritization
  • Consistent with NTCIP SCP 1211 Standard (2014)
  • Key Features
  • Accommodate Multiple Active Priority Requests from Different Modes
  • N-Level Priority Hierarchy
  • Coordination within the Priority Control Framework

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SLIDE 13

Basic Operational Concept: Priority Control

  • When a vehicle enters/remains in the range of an RSU

1. Hears (Listens for…)

  • MAP/SPaT
  • WAVE Service Announcement (go to channel XX to talk)

2. Computes Position on MAP, Desired Service Time (ETA), Desired Ingress and Egress (maybe) 3. Sends a Signal Request Message (SRM) 4. Receives Signal Status Message (SSM* - confirmation) 5. Passes through intersection 6. Sends a Cancel Signal Request Message (SRM)

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SLIDE 14

Visualization tool for priority algorithm: Time-Phase Diagram

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Time (second) Phases in Ring 1 Phases in Ring 2

P1

10 20 30 40 50 60

P2 P3 P4 P1 P5 P6 P7 P8 P5

12 22 15

delay

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SLIDE 15

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Flexible Implementation Algorithm (Zamanipour et al., 2016)

  • Critical points for one request

< Zamanipour’s Ph.D final defense slide> CLP1: max {FL1, BL3} CLP2: max {FL2, BL2} CLP3: max {FL3, BL1} CLP4: BR1 CRP1: min {FR1, BR4} CRP2: min {FR2, BR3} CRP3: min {FR3, BR2} CRP4: BR1

Time (second) Phases in Ring 1

P1

10 20 30 40 50 60

P2 P3 P4 P1

jm

CLP1 CLP2 CLP3 CRP1 CRP2 CRP3 CRP4

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SLIDE 16

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Arizona Connected Vehicle Test Bed Anthem, AZ

D S R C In sta lla tio n s: 1 1 S ig n a lized In tersection 6 Freew a y In terch a n g es1 1 0 Freew a y Loca tion s

1

A p p rox. 2 5 ,0 0 0 R esid en ts A p p rox. 1 0 ,0 0 0 V eh icles

1 2018 Expansion Project (ADOT)

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SLIDE 17

17 Source: Leidos Field Test Plan

Field Testing Scenarios, March 3rd and 4th 2015 Designed and Conducted by Leidos (IA Contractor)

  • 2 trucks with priority in

northbound/southbound

  • 2 buses with priority in

eastbound/westbound

  • 10 rounds of testing
  • 6 regular vehicles
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SLIDE 18

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Field Test Result for Transit Priority

200 400 600 800 100 120 1 2 3 4 5 6 7 8 9 10 TT (sec) Round

Transit #1

W ith Priority 500 100 150

1 2 3 4 5 6 7 8 9 1 0

TT (sec) Round Transit #2 W ith Priority W ithout Priorit y

Baseline (2 buses without Priority Requests for 10 Round Trips) TSP (2 buses with Priority Requests for 10 Round Trips) Improvement (%) Average TT (sec) 850.12 762.56

  • 10.3

TT Standard Deviation 91.13 53.48

  • 41.3
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SLIDE 19

Time-Space Diagram without MMITSS

  • Daisy Mountain and Gavilan Peak Northbound Movement
  • Number of Stops: 5, Number of Queue Encounters:1
  • Using BSMs sent from Truck #1

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  • 300
  • 200
  • 100

100 200 300

  • 1. 426E+ 091. 426E+ 091. 426E+ 091. 426E+ 091. 426E+ 091. 426E+ 091. 426E+ 091. 426E+ 09

Space (m) Time (Epoch Value)

Truck #1 Wednesday Afternoon: 1:30 pm - 5:00 pm

Rou nd #1 Rou nd #2 Rou nd #3 Rou nd #4 Rou nd #5 Rou nd #6 Rou nd #7

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SLIDE 20

Time-Space Diagram with MMITSS

  • Daisy Mountain and Gavilan Peak Northbound Movement
  • Number of Stops: 1, Number of Queue Encounters: 2
  • Using BSMs sent from Truck#1

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  • 300
  • 200
  • 100

100 200 300

  • 1. 425E+ 09
  • 1. 425E+ 09
  • 1. 425E+ 09
  • 1. 425E+ 09

Space (m) Time (Epoch Value)

Truck #1 Tuesday Afternoon: 1:30 pm - 5:00 pm

Rou nd #1 Rou nd #2 Rou nd #3 Rou nd #4 Rou nd #5 Rou nd #6 Rou nd #7

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SLIDE 21

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Findings for Freight Priority

1 0 2 0 3 0 1 2 3 4 5 6 7 8 9 1 0

TT (sec) Round

Trucks #1

W ith Priority

1 0 2 0 3 0 1 2 3 4 5 6 7 8 9 1

TT (sec) Round

Trucks #2

W ith Priority

Baseline (2 trucks without Priority for 10 Round Trips) FSP (2 trucks with Priority for 10 Round Trips) Improvement (%) Average TT (sec) 182.42 175.44

  • 3.84

TT Standard Deviation 36.28 28.37

  • 21.78
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SLIDE 22

MMITSS Pedestrian Smartphone App

MMITSS Pedestrian Smartphone app Allows Pedestrian to receive auditory and haptic feedback

  • Align with Crosswalk
  • Send Call for Service
  • Be given WALK
  • PedCLEAR Countdown

Savari SmartCross (SBIR) Application Architecture Sara Khosravi, PhD

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SLIDE 23

MMITSS Phase I - Products

  • Concept of Operations Document
  • Stakeholder Report (Input)
  • http://www.cts.virginia.edu/wp-

content/uploads/2014/05/Task2.3._CONOPS_6_Final_Revised.pdf

  • MMITSS Systems Requirements Document
  • http://www.cts.virginia.edu/wp-

content/uploads/2014/05/Task3._SyRS_4_PostSubmittal_V3.pdf

  • MMITSS Design Document
  • http://www.cts.virginia.edu/wp-

content/uploads/2014/05/Task4._SystemDesign_3_Revised_v.2.pdf

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MMITSS Phase II - Products

  • Two MMITSS Prototypes
  • MMITSS-AZ: Integrated MMITSS with adaptive control
  • MMITSS-CA: Add-on MMITSS interfaced with legacy traffic controller
  • Detailed System and Software Design Document
  • System Integration and Laboratory Testing
  • Arizona Connected Vehicle Simulation Platform
  • PATH Richmond Field Station Testing Intersection
  • Field Integration and Testing
  • System Test and Evaluation (Priority Only)
  • Leidos Impact Assessment Report
  • System Demonstration(s) and Final Report

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SLIDE 25

MMITSS Phase III: Deployment Readiness Enhancements Started February 2018

  • Required Upgrades/Improvements
  • Upgrade to 2016 SAE J2735 Standard
  • Upgrade to RSU 4.1 Specification
  • Code Improvements/Clean Up/Documentation Improvements
  • Enhanced Performance Measures
  • Interface to USDOT Operational Data Environment (ODE)
  • Desired Upgrades/Improvements
  • Traffic Control Enhancements
  • Integrated Priority/Coordination/Adaptive
  • Section-Level Priority
  • Usability
  • User Interface - Configuration/Operation
  • Security (Message Signing)
  • Task 4 – Field Test and Demonstration
  • 90-Day Field Operational Test
  • Task 5 – Technical Assistance to Deploy MMITSS
  • Support another deployment
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SLIDE 26

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Desired: MMITSS Usability

  • Objective
  • How would a traffic agency

configure, operate, monitor MMITSS?

  • Consideration for deployability
  • What features need to be

added to support usability?

  • Are these for the MMITSS

Team or for adopters?

  • E.g. Siemens RSU interface approach
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SLIDE 27

Growing Towards Deployment: Impact

  • Connected Vehicles are a Tool for

Solving Transportation Problems

  • Safety
  • Mobility
  • Environment
  • Building Partnerships
  • Transit
  • Freight
  • Emergency Services
  • Pedestrians
  • Parking Services
  • Meeting Challenges
  • Market Penetration
  • MAP data

MMITSS Project Discussion/Plan MMITSS Project Proposal Developed MMITSS (AZ) Project Active

M CD O T (19+11) ADO T (14) U D O T (35) PAG/Tucson (10) THEA CV Pilot Project #SM ARTCO LU M BU S (FSP) San D iego Port (FSP) CD O T Portland NTIC

MMITSS (CA) Project Active

Caltrans/PATH (19))

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SLIDE 28

Lessons Learned/Observations

  • Standards
  • Provide interfaces for system integration/deployment
  • NTCIP, IEEE, SAE
  • CV Data can improve traffic control
  • Performance Observations
  • New generation of traffic control algorithms
  • Controllers supporting SPaT (NTCIP 1203 v3)
  • Deployment Challenges
  • Market Penetration
  • Special Fleets – EV, Transit, Freight, Public Service, …..
  • Adoption by OEMs (Toyota, GM, ….) [NHTSA Mandate]
  • MAP Data
  • What fidelity?
  • How to build/develop?
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SLIDE 29

Questions? Discussion

Larry Head University of Arizona Transportation Research Institute University of Arizona klhead@email.arizona.edu

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