SPaT Challenge Webinar Series Webinar #2: Design Considerations, - - PowerPoint PPT Presentation

SPaT Challenge Webinar Series

Webinar #2: Design Considerations, Part 1

2:00 – 3:30 PM (Eastern) | March 20, 2018

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Webinar Logistics

• All lines are muted
• Webinar will be recorded
• Submit questions and comments in chat or

Q&A section of webinar window

• Questions will be answered at webinar

conclusion

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Agenda

• Welcome and Introduction
• SPaT Messages, Data Assembly, and the Signal

Controller Interface

• Patrick Chan, ConSysTec
• V2I Hub
• Chris Stanley, Leidos
• Agency experience with deploying on-board units
• Faisal Saleem, Maricopa County DOT
• Q&A

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SPaT Challenge

To challenge state and local public sector transportation IOOs to cooperate together to achieve deployment of DSRC infrastructure with SPaT broadcasts in at least one corridor

• r network (approximately 20 signalized intersections) in

each state by January 2020

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First SPaT Challenge Webinar

March 6, 2018

• Topics included:
• Introduction to the SPaT Webinar Series and

SPaT Challenge

• Systems Engineering Approach to the SPaT

Challenge

• Overview of the Model Concept of Operations

and Requirements documents

• Costs, Procurement, and Corridor Selection

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SPaT Challenge Resource Page

https://transportationops.org/spatchallenge/resources

7

SPaT Challenge Resource Page

https://transportationops.org/spatchallenge/resources

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SPaT Challenge Resource Page

https://transportationops.org/spatchallenge/resources

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Upcoming SPaT Challenge Webinars

• Design Considerations, Part 2
• April 17, 2018 2:00-3:30pm ET
• MAP messages, vehicle position correction, and DSRC licensing
• MAP Creator Tool Demonstration
• April 24, 2018 1:00-2:30pm ET
• Live technical demonstration and step-by-step training on using the MAP

creator tool

• Design Considerations, Part 3
• May 15, 2018 2:00-3:30pm ET
• Backhaul infrastructure, intersection, and roadside equipment specification,

design and installation

• Deployment & Validation
• June 12, 2018 2:00-3:30pm ET
• Procurement, validation, verification, and security of SPaT deployments

Signal Controller Interface for SPaT messages

Patrick Chan, ConSysTec

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Overview of Presentation

• Introduction to the SPaT Message
• Introduction to NTCIP 1202 v03
• SPaT Implementations

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Introduction to the SPaT Message

Connected Devices Signal Controller Unit Traffic Management Center Roadside Unit

13

Introduction to the SPaT Message

• SAE J2735 – DSRC Message Set

Dictionary

• Current version: SAE J2735_201603
• Developed with international community input
• Signal Phase and Timing Message

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J2735 SPaT Message

Field Object Description Req/Opt timestamp data element MinuteOfTheYear timestamp

• ptional

name data element DescriptiveName Name for the collection of intersections

• ptional

intersections data frame IntersectionStateList List of each intersection SPaT data is provided required regional data frame RegionalExtension Regional extensions, if any

• ptional

Message: MSG_SignalPhaseAndTiming A single SPaT message can provide signal timing data for up to 32 intersections.

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J2735 SPaT Message

Field Object Description Req/Opt id data element IntersectionReferenceID Unique regional identifier for the intersection required revision data element MsgCount Version of the message* required status data element IntersectionStatusObject General status of the intersection required states data frame MovementList The status of each movement at the intersection required Data Frame: IntersectionState * ISO TS 19091 indicates MsgCount should only be incremented when the message content changes.

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J2735 SPaT Message

Data Frame: MovementState

• Are we allowed to move?
• When will it change?

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J2735 SPaT Message

Field Object Description Req/Opt signalGroup data element SignalGroupID Identifier for an allowed

• movement. Tied to the

MAP message (to a lane

• r set of lanes)

required eventState data element MovementPhaseState Phase state (protected, permissive, yellow, red, etc.) required timing data element TimeChangeDetails Time stamps for an event

• ptional

speeds data frame AdvisorySpeedList Speed advisories for general or specific vehicles

• ptional

Data Frame: MovementState For each movement:

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J2735 SPaT Message

Field Object Description Req/Opt startTime data element TimeMark Time when the event first started

• ptional

minEndTime data element TimeMark Earliest time the event will end required maxEndTime data element TimeMark Latest time the event will end

• ptional

likelyTime data element TimeMark Most likely time the event will end

• ptional

confidence data element TimeMark Confidence level of the likely time

• ptional

nextTime data element TimeMark When the event will occur again

• ptional

Data Frame: TimeChangeDetails

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J2735 SPaT Message

Field Object Description Req/Opt enabledLanes dataFrame EnabledLaneList Tied to MAP message, indicates which lanes are currently active.

• ptional

maneuverAssistList data frame ManueverAssistList Details about traffic flow for specific lanes and maneuvers (e.g, queue length, potential pedestrian or bicycle conflicts)

• ptional

Other Optional fields

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J2735 SPaT Message

Enabled Lanes:

• Lane 1 = parking lane
• Lane 5 = travel lane

Maneuver assist

• Left allowed in Lane 23
• To Lane 13 or 14
• Queue length
• Ped conflict?

1 / 5 2 3 4 11 12 13 14 31 32 33 34 21 22 23 24

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J2735 SPaT Message

• Used in conjunction with a MAP message
• The MAP message defines the lanes and the

possible movements at the intersection

The MAP message does not change unless the roadway geometry changes

• The SPaT message identifies the enabled

lanes and additional dynamic information for a movement

• signalGroupId – links the SPaT with the MAP

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NTCIP 1202 v03

Connected Devices Signal Controller Unit Traffic Management Center Roadside Unit

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NTCIP 1202 v03

• Object Definitions for Actuated Signal

Controllers (ASC) Interfaces

• Version 3 adds systems engineering content,

support for the cabinet environment, managing I/O mapping, exception reporting, and support for connected vehicles

• Version 3 is currently in ballot.

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NTCIP 1202 v03

• Connected Vehicles Interface
• Configure the interface between a controller

and a RSU

• Generate and exchange SPaT data
• Generate and exchange MAP data
• Receive Basic Safety Messages and Personal

Safety Messages as detector inputs

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NTCIP 1202 v03

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NTCIP 1202 v03

• Different physical architectures
• The ASC process is part of the controller unit
• The CV Roadside process

In the same physical unit as the DSRC radio In the same physical unit as the controller unit Its own separate physical unit

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NTCIP 1202 v03

• Supports different architectures between

the ASC and RSU

• Who is the manager?

Does the ASC “push” SPaT data to the RSU, or does the RSU “pull” SPaT data from the ASC Each has benefits and issues May be determined by the policies of each agency Must be defined in the specification

• Let the market decide

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NTCIP 1202 v03

• Configure the RSU interface
• Manage the ports
• Manage the watchdog

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NTCIP 1202 v03

• Generate and exchange SPaT data
• Objects were created to address all SPAT-

related mandatory and optional data elements in SAE J2735_201603 except:

start time for a movement Regional extensions

• Adds performance requirements

How often is SPaT data provided How quickly SPaT data is provided after an event

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NTCIP 1202 v03

• Generate and exchange SPaT data
• Issues:

Time reference – The controller may have a different time source than the RSU Controller provides timestamps in ticks (1/10th of a second) elapsed since the top of the hour, and allows the RSU to resolve time

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NTCIP 1202 v03

• Generate and exchange MAP data
• Objects were created to address all MAP-

related mandatory data elements for intersections in SAE J2735_201603

• Necessary to ensure the SPaT data and MAP

data are synchronized

Provides a check that the correct MAP is in effect Provides a check that mutually exclusive enabled lanes are not in effect

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NTCIP 1202 v03

• Receive Basic and Personal Safety

Messages as detector inputs

• Creates virtual detectors that are tied to the

ASC detector inputs

Detector boundaries can be a lane or a geofence Provide filters such as vehicle type, direction of travel, speed

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NTCIP 1202 v03

• SignalGroupID = channel output number
• Current Status
• Standard in ballot soon
• Some vendors have started adopting the

balloted standard

Some risk involved

• Changes
• Lessons Learned

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SPaT Implementations

• USDOT CV Pilots in New York City and

Tampa

• Multi-Modal Intelligent Traffic Signal

Systems (MMITSS)

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NYC CV Pilot

• Implementing the balloted version of

NTCIP 1202 v03 to provide SPaT data

• Working with the ASC Working Group on

implementation issues

• Only sends SPaT data when there’s a change

in movement status (state or timestamps)

• Sending SPaT data to Amazon Cloud to

support PED applications for the visually impaired

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NYC CV Pilot

• RSU translates the SPaT data and

generates the SPaT message

• SPaT data includes timestamps to insure

RSU can adjust times as necessary

• Security design considers the RSU, ASC

and TMC as a whole system

• Efficient channel usage allows alternate

media

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Tampa CV Pilot

• Uses Siemen’s SpatMap application
• Part of Siemen’s core RSU software
• Uses the SPaT message defined by the

V2I Hub Interface Control Document (ICD) between the signal controller and RSU

• Also called the Traffic Signal Controller

Broadcast Message (TSCBM)

• Uses other functions provided by MMITSS

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MMITSS

• Current version:
• Has a MMITSS Roadside Processor between

the signal controller and the RSE Radio

Uses the Battelle SPaT message (blob) consisting

• f NTCIP 1202 v02 objects with extensions,

between the Roadside Processor and the signal controller.

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MMITSS

• Based on the 2009 version of SAE J2735

SPaT data: Sent every 0.1 seconds Movement times are time to change, NOT timestamps

• Version 2.0
• May use the NTCIP 1202 v03 object

definitions

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Summary

• Industry still transitioning to support SPaT
• May still be changes to SAE J2735
• Current options between the RSU and

controller

• Ballot standard of NTCIP 1202 v03
• Interface Control Document defined in the V2I

Hub

• Talk with your vendor!

41

Resources

SAE J2735_201603

• https://www.sae.org/standards/content/j27

35_201603/ NTCIP 1202

• https://www.ntcip.org/library/standards/def

ault.asp?documents=yes&qreport=no&sta ndard=1202

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Resources

Connected Vehicle Pilots

• https://www.its.dot.gov/pilots/

MMITSS

• http://www.cts.virginia.edu/cvpfs_research

ISO TS 19091

• https://www.iso.org/standard/69897.html

Roadside software to facilitate communication between new connected vehicle hardware and existing traffic control equipment & systems

Federal Highway Administration Saxton Transportation Operations Lab

Traffic Signal Controller Roadside Unit (RSU) GPS

Transportation Management Center (TMC)

Map Signal Phase and Timing (SPAT) Message Storage

V2I Hub

V2I HUB

Presentation Overview

• What is V2I Hub?
• Why V2I Hub?
• Where can V2I Hub be found?
• When will software, documentation, and

additional functionality be available?

Traffic Signal Controller Roadside Unit (RSU) GPS

Transportation Management Center (TMC)

Map Signal Phase and Timing (SPAT) Message Storage

V2I Hub

What Is V2I Hub?

• Software to simplify integration by translating

communication between different standards and protocols

• Modular platform uses software plugins to add functionality

and communicate to different hardware and systems

• Software middleware that can run on both Arm and Intel

processors running Linux

• V2I Hub can run on a variety of roadside equipment
• Roadside Unit (RSU) CV radio
• Traffic signal controller coprocessor board
• Standalone industrial computer

What Is V2I Hub?

• Plugins can create SAE J2735-2016 compliant

messages for broadcast

• BSM – Basic Safety Message
• MAP – Intersection Geometry
• SPaT – Signal Phase and Timing
• TIM – Traveler Information Message
• RTCM – Position Correction
• Future J2735 messages

What Is V2I Hub?

• Plugins enable communication with different

equipment and systems

• Connected Vehicle Radios – Roadside Unit

(RSU)

• Traffic Signal Controllers
• Transportation Management Centers
• Global Positioning System (GPS) Radios
• Position Correction Equipment or Data
• Dynamic Message Signs
• Pedestrian and Vehicle Sensors
• Road Weather Sensors
• Internet
• Specialized Equipment

Dynamic Message Sign (DMS) Rail Signal Controller

Transportation Management Center (TMC)

GPS Roadside Unit (RSU) Traffic Signal Controller Internet

What Is V2I Hub?

• Plugins can add functionality and run connected

vehicle applications

• Conflict Monitor
• MMITSS – Multi-Modal Intelligent Transportation

Signal System

• CSW – Curve Speed Warning
• HIL – Hardware in the Loop
• CAV – Connected and Automated Vehicles

V2I Hub Advantages

• Scalable, efficient, and flexible
• Built-in message translation and plugin architecture

reduces integration work and backend software

• Plugins reduce effort required to add functionality
• r connect to new devices
• Secure, remote access for monitoring, configuration,

and software updates to reduce operations and maintenance efforts

• Cross cutting – Provides connections between existing

equipment and systems and future connected and automated vehicle technologies

V2I Hub Advantages

• Documentation explaining the design and architecture

makes integration, operation, and maintenance easier

• Open-source platform increases flexibility and interoperability that

proprietary systems inhibit

• Vendor neutral
• Efficient adoption of equipment from different manufacturers
• Interface to support custom and future applications and

functionality

• Additional functionality can be added in-house or by third

parties

• Specify in Procurement to maintain open architecture and future

flexibility

I believe the V2I Hub is an essential ingredient that will facilitate interoperability of the various programs being developed for future connected vehicle applications.

• Jim Rose, Econolite Hardware Engineering Manager

V2I Hub Advantages

• SPaT – Simplifies effort required

to broadcast J2735-2016 SPaT Message

• Utilizes NTCIP

1202 Traffic Signal Controller Broadcast Message (TSCBM) data objects

• Currently

supported by Econolite, McCain, and Siemens traffic

V2I Hub Advantages

• MAP – Simplifies

effort required to develop intersection geometry and broadcast J2735- 2016 MAP Message

• Supports JSON

data generated by USDOT’s MAP Message Creation Tool

V2I Hub Adoption and Deployment

• Turner Fairbanks Highway Research Center
• NE Michigan Testbed
• University of Michigan Transportation Research Institute

(UMTRI)

• Florida Traffic Engineering Research Laboratory approval for

research deployment on Florida roadways

• Osceola County
• Austin, Texas
• Tampa CV Pilot City
• Siemens Roadside Unit

V2I Hub Adoption and Deployment

• V2I Hub Version 3.0 software has been posted to the Open

Source Application Development Portal (OSADP) and is available to download

• Multi-Modal Intelligent Traffic Signal Systems (MMITSS) plugins

to be released in June 2018

• Operational Data

Environment (ODE) plugin to be released in June 2018

• The final software will be

posted to the OSADP in September 2018

V2I Hub Adoption and Deployment

• Support documentation available in the near

future:

• V2I Hub Guidebook
• V2I Hub Plugins
• V2I Hub Deployment Guide
• V2I Hub Software Configuration Guide
• V2I Hub Administration Portal User Guide
• V2I Hub Plugin Programming Guide
• FHWA evaluating additional test plans needed to

support procurement of roadside equipment

Certified:

TSC RSU GPS TMC MAP SPaT CSW

V2I Hub

Connected Vehicle Support Services

Toll-free # 1-844-DOT-CVCS (1-844-368-2827) https://cvcs.samanage.com/

Business hours: Monday-Friday, 8:00AM - 5:00PM Toll-free #: 1-844-DOT-CVCS (1-844-368-2827)

Deborah Curtis

FHWA

Office of Operations Research & Development

Chris Stanley

Leidos

Saxton Transportation Operations Lab Program Manager Chris.Stanley@Leidos.com

On-Board Unit (OBU): Public Agency Perspective

Faisal Saleem, Maricopa County Department of Transportation

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V2I System and OBU

Vehicle On Board Unit (OBU) After Market Safety Device (ASD)

+

Connected Vehicle Equipment Connected Vehicle Infrastructure Equipment Road Side Equipment (RSE)

Communications Dialog Cooperative Applications DSRC 5.9 GHz Radio

MAP Data Digital Description of Roadway

(D. Kelley, 2012)

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Definitions

• On-Board Unit (OBU) - A vehicle mounted device used

to transmit and receive a variety of message traffic to and from other connected devices. Also referred to as On-Board Equipment (OBE)

• Aftermarket Safety Device (ASD ) - A connected device,

not integrated during vehicle manufacture, but added after sale. It is installed in a vehicle, and capable

• f sending and receiving messages over a DSRC

wireless communications link. The device has a driver interface, runs V2V and V2I safety applications, and issues audible or visual warnings and/or alerts to the driver of the vehicle.

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Source: https://www.itsforge.net/index.php/information/glossary-of-terms

Traffic Signal Controller MAP SPaT RSU DVI showing Phase state and timing for the relevant lane Positioning Lane Matching Phase Timing OBU SPaT and MAP

• ver DSRC

Ethernet Infrastructure side Vehicle side

Role of OBU (in Application)

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RSU and OBU Differences

Features RSU OBU Radios 2 2 (early version 1) Specification USDOT DSRC 4.1 None/ Does not exist FCC Licensing Required Vendor Installation Infrastructure Vehicle Power PoE DC (~12V) Cost Lower than RSU

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OBU Sub-System

DSRC Radio Units Laptop/Tablet Interface Antenna Data Logging Interface to CAN Operating System

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On-Board Unit/ASD

Other suppliers…..

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Role of OBU in SPaT Challenge

• Roadside Unit is broadcasting SPaT and MAP
• How do we know –
• That MAP and SPaT is actually being broadcast?
• How far from the RSU can it be received?
• Can RSU receive Basic Safety Message (BSM)?
• What other applications could be deployed with OBU

and RSU?

E.g. EV Priority/Preemption, Transit Priority, Freight Priority, Performance Observation,…

65

Installation Considerations

• Where to locate the Antenna?
• Experience on Buses, Fire Trucks
• Power?
• Performance?

Positioning Accuracy

DSRC Range Data (BSM)

• What Applications?

BSM Broadcast SPaT Receiver/Display Priority Request Generator (Signal Request Message)

66

Installation Examples Permanent? (MCDOT)

67

Installation Examples Adhoc (MCDOT)

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Installation Examples CALTRANS

Arada LocoMate mini 2 Savari MobileWAVE S103 Savari MW-1000

Number of Radios 1 2 2 Standards 2009 2009 2016 DSRC Messages and Channels Channel 172: BSM, SPaT, and MAP Channel 172: BSM, SPaT, MAP, SRM, and SSM Channel 182: SRM and SSM Use of SDK? Yes Yes Yes Use of CAN? No No No

69

Installation Examples CALTRANS

70

Installation Examples UDOT

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New York: ASD Request

• Request for Expression of Interest

for ASD

• Generate market interest
• Evaluate vendor readiness
• Identify vendor commitment
• Seek vendor insight
• Review vendor commitment
• Identify approaches to certification
• Gain better understanding of

installation requirements, packaging, and options

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http://www.nyc.gov/html/dot/downloads/pdf/nycdot-cvp-rfei-apr2017.pdf

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Installation Examples New York (USDOT CV Pilot)

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Installation Examples SPaT Challenge: Simple Installation

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Lessons Learned

• Procurement Considerations
• Configuration
• Installation
• Operations
• Performance

Webinar Wrap-Up and Q&A

76

Next SPaT Challenge Webinar

• Design Considerations, Part 2
• April 17, 2018 2:00pm ET
• Overview of MAP messages
• Examples of MAP message creation approaches
• Vehicle position correction needs and solutions
• DSRC licensing
• Registration:

https://transportationops.org/event/webinar-3-spat- challenge-design-considerations-part-2

Q&A

Submit questions and comments in chat or Q&A section of webinar window

Upcoming SPaT Challenge Webinars

Design Considerations, Part 2 April 17, 2018 2:00-3:30pm ET MAP Creator Tool Demonstration April 24, 2018 1:00-2:30pm ET Design Considerations, Part 3 May 15, 2018 2:00-3:30pm ET Deployment & Validation June 12, 2018 2:00-3:30pm ET