CAMP Vehicle Safety Communications Consortium IVI Light Vehicle

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CAMP Vehicle Safety Communications Consortium IVI Light Vehicle Enabling Research Program Vehicle Safety Communications

CAMP Vehicle Safety Communications Consortium IVI Light Vehicle Enabling Research Program Vehicle Safety Communications Project Executive Overview November 4, 2003 Vehicle Safety Communications Consortium

Briefing Agenda 10: 00 – 11: 00 11: 15 – 11: 35 – 12:

Briefing Agenda 10: 00 – 11: 00 11: 15 – 11: 35 – 12: 00 – 1: 25 – 1: 45 – 1: 25 1: 45 2: 00 – 2: 45 Executive Overview (F. Ahmed-Zaid, G. Peredo) Task 4: Refinement of Vehicle Safety Applications - Overview (H. Krishnan) - Field Testing (J. Bauer) Lunch Task 4: (continued) - Field Testing (E. Clark) - Simulation Testing (D. Jiang) Task 5: Participate in and Coordinate with DSRC Standards Committees and Groups (T. Schaffnit) Task 6: Test and Validation of DSRC Capabilities - Subproject 6 A: Protocol Research (D. Jiang) - Subproject 6 B: Security (E. Clark) - Subproject 6 C: Antenna (S. Tengler) 10/29/2020 2

VSC Project l l l Two-year program began May 2002 VSC Consortium Members: BMW,

VSC Project l l l Two-year program began May 2002 VSC Consortium Members: BMW, Daimler. Chrysler, Ford, GM, Nissan, Toyota, and VW Facilitate the advancement of vehicle safety through communication technologies u u u 10/29/2020 Identify and evaluate the safety benefits of vehicle safety applications enabled or enhanced by communications Assess communication requirements, including vehicle-vehicle and vehicle-infrastructure modes Contribute to DSRC standards and ensure they effectively support safety 3

VSC Project Tasks l Task 1 - Literature Review l Task 2 - Analyze

VSC Project Tasks l Task 1 - Literature Review l Task 2 - Analyze the DSRC Standards Development Process l Task 3 - Identify Intelligent Vehicle Safety Applications Enabled by DSRC l Task 4 - Refine Vehicle Safety Application Communications Requirements l Task 5 - Participate in and Coordinate with DSRC Standards Committees and Groups l Task 6 - Test and Validate DSRC Capabilities l Task 7 - Summary l Task 8 - Program Management 10/29/2020 4

Completed Tasks 1, 2 & 3 l Task 1: u Reviewed available published DOT

Completed Tasks 1, 2 & 3 l Task 1: u Reviewed available published DOT and OEM literature for communications-based vehicle safety applications l Task 2: u Prepared roadmap of anticipated DSRC standards (roadmap is updated in Task 5) u Provided DOT with synchronized VSC project timeline l Task 3: u Identified communications-based vehicle safety applications u Selected high potential benefit applications for further research 10/29/2020 5

Safety Applications Communications Between Vehicle and Infrastructure § § § § § § §

Safety Applications Communications Between Vehicle and Infrastructure § § § § § § § § § Approaching Emergency Vehicle Warning Blind Spot Warning Cooperative Adaptive Cruise Control Cooperative Collision Warning Cooperative Forward Collision Warning Cooperative Vehicle-Highway Automation System Emergency Electronic Brake Lights Highway Merge Assistant Lane Change Warning Post-Crash Warning Pre-Crash Sensing Vehicle-Based Road Condition Warning Vehicle-to-Vehicle Road Feature Notification Visibility Enhancer Wrong Way Driver Warning 10/29/2020 Blind Merge Warning Curve Speed Warning – Rollover Warning Emergency Vehicle Signal Preemption Highway/Rail Collision Warning Intersection Collision Warning In Vehicle Amber Alert In-Vehicle Signage Just-In-Time Repair Notification Left Turn Assistant Low Bridge Warning Low Parking Structure Warning Pedestrian Crossing Information at Intersection Road Condition Warning Safety Recall Notice SOS Services Stop Sign Movement Assistance Stop Sign Violation Warning Traffic Signal Violation Warning Work Zone Warning 6

Highest Ranking Safety Applications Near Term (2007 – 2011) Mid Term (2012 – 2016)

Highest Ranking Safety Applications Near Term (2007 – 2011) Mid Term (2012 – 2016) l l l 10/29/2020 Benefit opportunity 5 th year after deployment 17 M new vehicles/year equipped (of 210 M total) Effectiveness derived from “ 44 Crashes” 7

Basic Communications Requirements l Defined communications parameters that include: u u u l 10/29/2020

Basic Communications Requirements l Defined communications parameters that include: u u u l 10/29/2020 Types of Communications (one-way, two-way, point-to-point, point -to-multipoint) Transmission Mode (event-driven, periodic) Update Rate Allowable Latency (communication delay) Data to be Transmitted and/or Received (message content) Required Range of Communication Specified communications parameters based on engineering judgment and industry experience 8

Preliminary Communications Requirements for High-Priority Application Scenarios Traffic Signal Violation Warning Curve Speed Warning

Preliminary Communications Requirements for High-Priority Application Scenarios Traffic Signal Violation Warning Curve Speed Warning Emergency Electronic Brake Lights Pre-Crash Warning Cooperative Forward Collision Warning Left Turn Assistant Lane Change Warning Stop Sign Movement Assistance one-way, point -multipoint two-way, point -point one-way, point -multipoint Transmission Mode periodic event-driven periodic Update Rate (Hz) 10 1 10 50 10 10 Allowable Latency (milliseconds) 1000 100 20 100 100 Data to be Transmitted and/or Received (bytes) 528 I-V 381 I-V 288 V-V 435 V-V once 283 V-V repeat 419 V-V 840 I-V, (208 V-I) 288 V-V 416 I-V, (208 V-I) Required Range of Communication (meters) 250 200 300 50 150 300 Types of Communication 10/29/2020 9

Comparison of Wireless Technologies 10/29/2020 10

Comparison of Wireless Technologies 10/29/2020 10

Task 3 Summary l For high potential benefit safety applications u u l DSRC

Task 3 Summary l For high potential benefit safety applications u u l DSRC appears to have the potential to support safety communications requirements u u l 10/29/2020 Defined system level concepts of operation Refined communications requirements Low latency (50 -100 ms) Transmission of broadcast messages Adequate range (up to 300 m) Adequate data rate (up to 27 Mbps) Latency requirements for safety applications do not appear to be achievable with other available wireless communications technologies 11

Task 4 - Refinement of Vehicle Safety Communications Requirements l l l 10/29/2020 Designed

Task 4 - Refinement of Vehicle Safety Communications Requirements l l l 10/29/2020 Designed and assembled 20 communications test kits (including DGPS units) for VSC field testing Developed data collection software and analysis tools (now at v 2. 7) to conduct tests Developed test plan with representative test scenarios Conducted field testing on test track and public roadways Analyzed data from field testing Developed simulation test tool for DSRC protocol investigations 12

Test Equipment l VSC Communication Test Kits (CTKs) - 10/29/2020 Laptops with 802. 11

Test Equipment l VSC Communication Test Kits (CTKs) - 10/29/2020 Laptops with 802. 11 a card DGPS receivers Magmount DSRC and DGPS antennas Portable implementation 13

Test Kit vs. DSRC Standard CTK S/W v 2. 3 25/50 m. W default

Test Kit vs. DSRC Standard CTK S/W v 2. 3 25/50 m. W default antenna input power settings CTK S/W v 2. 7 Up to 100 m. W programmable antenna input power DSRC Standard Up to 750 m. W variable antenna input power 5. 15 -5. 35, 5. 725 -5. 825 5. 15 -5. 35, 5. 7255. 85 -5. 925 GHz 5. 825, 5. 85 -5. 925 GHz Auto channel select Selectable channel Channel switching 20 MHz channel 10 MHz channel IEEE 802. 11 ad hoc DSRC ad hoc 6 -54 Mbps 3 -27 Mbps 10/29/2020 14

Test Scenarios Scenario 2 Scenario 1 One Dynamic Antenna (OBU) One Static Antenna (RSU)

Test Scenarios Scenario 2 Scenario 1 One Dynamic Antenna (OBU) One Static Antenna (RSU) Scenario 3 Scenario 4 Two Static Antennas Legend: 10/29/2020 Two Dynamic Antennas (OBU’s) Sender Multiple Sending Antennas Receiver Obstructer 15

Test Plan Structure 10/29/2020 16

Test Plan Structure 10/29/2020 16

Actual Road Testing l Controlled environment testing: Test tracks l Real Traffic Conditions: Highways,

Actual Road Testing l Controlled environment testing: Test tracks l Real Traffic Conditions: Highways, rural, arterial, and residential roads in the Palo Alto and Detroit areas (various traffic densities, curves, hills, bridges, etc. ) 10/29/2020 Test Track Public Roads 17

Freeway Testing: Example Graph Legend: sender Range (m) Lost Packets Received Packets Accumulated Received

Freeway Testing: Example Graph Legend: sender Range (m) Lost Packets Received Packets Accumulated Received Packets Video Clips SUV obstruction Dense Traffic Large Truck obstruction SUV & sedans obstruction PU Truck obstruction Receiver lane change GPS outages under overpasses 10/29/2020 18

Moving Vehicle Testing: Example l l l Sender and receiver vehicles pass each other

Moving Vehicle Testing: Example l l l Sender and receiver vehicles pass each other at 50 mph 400 -bytes message size, every ~ 50 msec (stress configuration) No packet loss Sender Receiver 10/29/2020 19

Simulation Testing l l Used simulation test environment to investigate vehicle scenarios too large

Simulation Testing l l Used simulation test environment to investigate vehicle scenarios too large for real world testing Initial investigations centered on determining the effectiveness of proposed IEEE 802. 11 priority mechanisms for vehicle safety u Early results indicate priority mechanism works well to get safety messages transmitted consistently before lower priority messages u Significant difference with/without priorities evident in the more stressing simulation runs 10/29/2020 20

Field Testing Observations l Line of sight, single transmitter-receiver communication is robust for a

Field Testing Observations l Line of sight, single transmitter-receiver communication is robust for a variety of vehicle-vehicle and vehicle infrastructure safety applications u u u l 10/29/2020 Range (300 m), update rate (10 -20 Hz), and latency requirements (50 -100 ms) of Task 3 safety applications were met in preliminary tests Better than expected performance with SUV/Van obstructions Degraded performance, as expected, under obstructions from large trucks and buildings/terrain. More testing and analysis is required Areas for future study include transmission power variation, and multi-sender, multi-receiver scenarios 21

Outline l l 10/29/2020 VSC Project Background, Project Tasks & Deliverables Tasks 1, 2,

Outline l l 10/29/2020 VSC Project Background, Project Tasks & Deliverables Tasks 1, 2, 3 and 4 Progress and Findings Tasks 5 and 6 Progress and Findings Summary and Next Steps 22

Task 5 - Participate in and Coordinate with DSRC Standards Committees l Lower layer

Task 5 - Participate in and Coordinate with DSRC Standards Committees l Lower layer DSRC standard - ASTM to IEEE 802. 11 u u u l l l 10/29/2020 Benefit – IEEE 802. 11 credibility and acceptance Issue – potential for delayed approval (possibly 2005) FCC rulemaking currently follows precursor ASTM standard, but may cause delay if IEEE changes necessitate revision Upper layer DSRC standards being developed in another IEEE committee DSRC security standard development in another IEEE committee VSCC actively participating in these DSRC standards development activities 23

Additional DSRC Standards Progress l VSCC provided information to new Alliance of Automobile Manufacturers

Additional DSRC Standards Progress l VSCC provided information to new Alliance of Automobile Manufacturers (AAM) working group u u l l 10/29/2020 AAM defining DSRC standard vehicle message set Intended for SAE vehicle safety messaging standard SAE formed new committee to develop message set and data dictionary standard for DSRC (first meeting 12/03) VSCC plans to participate in this SAE standards development activity 24

Task 6 A - Protocol Research Subproject l l l Develops informed VSC recommendations

Task 6 A - Protocol Research Subproject l l l Develops informed VSC recommendations to create efficient, robust, and reliable communications protocol Focuses on how to improve broadcast reliability in various traffic conditions Status u u 10/29/2020 Test kit enhanced for collecting received signal strength data Initial enhancement of DSRC simulator ready and in use Mathematical framework under discussion Simulation tests for various broadcast reliability enhancements in development 25

Task 6 B - Security Subproject l l Addressing greater security consequences for vehicle

Task 6 B - Security Subproject l l Addressing greater security consequences for vehicle safety communications Participating in IEEE P 1556 working group meetings u VSCC l l l 10/29/2020 leading security for safety applications Created vehicle safety communications threat model and outline of security services Defining security solution constraints Starting description of security architecture and protocol 26

Task 6 C - Antenna Subproject l l l 10/29/2020 Developing optimized antennas for

Task 6 C - Antenna Subproject l l l 10/29/2020 Developing optimized antennas for DSRC Determine antenna performance and placement requirements per lower layer standards and OEM guidance Design and characterize antenna variants optimized for 5. 9 GHz DSRC Build reference antennas for DSRC research Supplier selected, now developing candidate designs Target March ’ 04 completion 27

Outline l l 10/29/2020 VSC Project Background, Project Tasks & Deliverables Tasks 1, 2,

Outline l l 10/29/2020 VSC Project Background, Project Tasks & Deliverables Tasks 1, 2, 3 and 4 Progress and Findings Tasks 5 and 6 Progress and Findings Summary and Next Steps 28

Summary l l VSCC is encouraged by the testing to date Initial tests indicate

Summary l l VSCC is encouraged by the testing to date Initial tests indicate that DSRC can perform well in most of the conditions examined in the current testing: u u l l l 10/29/2020 The expected degradation from large vehicles, structures, and terrain obstructions was observed in some cases. It is not expected this will have a severe impact on safety applications More testing and research is planned to examine additional conditions Simulation testing is underway The transition to the IEEE lower layer standard has benefits, but also some risks The VSC project continues to have a positive impact on the focus and progress of DSRC standards development 29

Next Steps l Continue field testing to complete defined test scenarios and validate/refine communications

Next Steps l Continue field testing to complete defined test scenarios and validate/refine communications requirements l Continue simulation testing to understand refine communication mechanisms in dense traffic environments l Continue active standards participation to ensure developing standards effectively support safety l Design candidate security architecture and protocol to address threat model and constraints l Develop optimized DSRC vehicle antenna reference designs 10/29/2020 30

Briefing Agenda 10: 00 – 11: 00 11: 15 – 11: 35 – 12:

Briefing Agenda 10: 00 – 11: 00 11: 15 – 11: 35 – 12: 00 – 1: 25 – 1: 45 – 1: 25 1: 45 2: 00 – 2: 45 Executive Overview (F. Ahmed-Zaid, G. Peredo) Task 4: Refinement of Vehicle Safety Applications - Overview (H. Krishnan) - Field Testing (J. Bauer) Lunch Task 4: (continued) - Field Testing (E. Clark) - Simulation Testing (D. Jiang) Task 5: Participate in and Coordinate with DSRC Standards Committees and Groups (T. Schaffnit) Task 6: Test and Validation of DSRC Capabilities - Subproject 6 A: Protocol Research (D. Jiang) - Subproject 6 B: Security (E. Clark) - Subproject 6 C: Antenna (S. Tengler) 10/29/2020 31