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SPaT Challenge Webinar Series Webinar #2: Design Considerations, Part 1 2:00 – 3:30 PM (Eastern) | March 20, 2018

SPaT Challenge Webinar Series...Webinar #2: Design Considerations, Part 1 2:00 – 3:30 PM (Eastern) | March 20, 2018 2 Webinar Logistics • All lines are muted • Webinar will be

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Page 1: SPaT Challenge Webinar Series...Webinar #2: Design Considerations, Part 1 2:00 – 3:30 PM (Eastern) | March 20, 2018 2 Webinar Logistics • All lines are muted • Webinar will be

SPaT Challenge Webinar SeriesWebinar #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 ChallengeTo 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 or network (approximately 20 signalized intersections) in each state by January 2020

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First SPaT Challenge WebinarMarch 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 Pagehttps://transportationops.org/spatchallenge/resources

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SPaT Challenge Resource Pagehttps://transportationops.org/spatchallenge/resources

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SPaT Challenge Resource Pagehttps://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

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Signal Controller Interface for SPaT messagesPatrick 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 ControllerUnit

Traffic ManagementCenter

RoadsideUnit

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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/Opttimestamp data element

MinuteOfTheYeartimestamp optional

name data element DescriptiveName

Name for the collection of intersections

optional

intersections data frame IntersectionStateList

List of each intersection SPaT data is provided

required

regional data frameRegionalExtension

Regional extensions, if any

optional

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/Optid data element

IntersectionReferenceIDUnique regional identifier for the intersection

required

revision data element MsgCount Version of the message* requiredstatus data element

IntersectionStatusObjectGeneral 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 MessageData Frame: MovementState

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

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J2735 SPaT Message

Field Object Description Req/OptsignalGroup data element

SignalGroupIDIdentifier for an allowed movement. Tied to the MAP message (to a lane or 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 optional

speeds data frame AdvisorySpeedList

Speed advisories for general or specific vehicles

optional

Data Frame: MovementStateFor each movement:

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J2735 SPaT Message

Field Object Description Req/OptstartTime data element

TimeMarkTime when the event first started optional

minEndTime data element TimeMark

Earliest time the event will end required

maxEndTime data element TimeMark

Latest time the event will end optional

likelyTime data element TimeMark

Most likely time the event will end optional

confidence data element TimeMark

Confidence level of the likely time optional

nextTime data element TimeMark

When the event will occur again optional

Data Frame: TimeChangeDetails

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J2735 SPaT Message

Field Object Description Req/OptenabledLanes dataFrame

EnabledLaneListTied to MAP message, indicates which lanes are currently active.

optional

maneuverAssistList data frame ManueverAssistList

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

optional

Other Optional fields

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J2735 SPaT MessageEnabled 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 intersectionThe 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 ControllerUnit

Traffic ManagementCenter

RoadsideUnit

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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 processIn the same physical unit as the DSRC radioIn the same physical unit as the controller unitIts 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 ASCEach has benefits and issuesMay be determined by the policies of each agencyMust 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 movementRegional extensions

Adds performance requirementsHow often is SPaT data providedHow 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 RSUController 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 synchronizedProvides a check that the correct MAP is in effectProvides 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 inputsDetector boundaries can be a lane or a geofenceProvide 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 standardSome 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 RadioUses the Battelle SPaT message (blob) consisting

of 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 J2735SPaT data: Sent every 0.1 secondsMovement 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!

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ResourcesSAE 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&standard=1202

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ResourcesConnected Vehicle Pilots• https://www.its.dot.gov/pilots/MMITSS• http://www.cts.virginia.edu/cvpfs_researchISO TS 19091• https://www.iso.org/standard/69897.html

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

Federal Highway AdministrationSaxton Transportation Operations Lab

Traffic Signal Controller

Roadside Unit (RSU) GPS

Transportation Management

Center(TMC)

MapSignal Phase and Timing

(SPAT)

Message Storage

V2I Hub

V2I HUB

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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)

MapSignal Phase and Timing

(SPAT)

Message Storage

V2I Hub

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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

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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

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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)

GPSRoadside Unit (RSU)

Traffic Signal Controller

Internet

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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

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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

or 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

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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

flexibilityI 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

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V2I Hub Advantages

• SPaT – Simplifies effort required to broadcast J2735-2016 SPaTMessage

• Utilizes NTCIP 1202 Traffic Signal Controller Broadcast Message (TSCBM) data objects

• Currently supported by Econolite, McCain, and Siemens traffic

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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

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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

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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

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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 M AP SPa T CSW

V2I Hub

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Connected Vehicle Support ServicesToll-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 CurtisFHWA

Office of Operations Research & Development

Chris StanleyLeidosSaxton Transportation Operations Lab Program [email protected]

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On-Board Unit (OBU): Public Agency PerspectiveFaisal 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)

CommunicationsDialog

Cooperative Applications

DSRC 5.9 GHz Radio

MAP DataDigital 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 of 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

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Traffic Signal Controller

MAP

SPaT

RSU

DVI showing

Phase state and timing

for the relevant

lane

Positioning

Lane Matching

Phase Timing

OBU

SPaT and MAPover DSRC

Ethernet

Infrastructure side Vehicle side

Role of OBU (in Application)

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RSU and OBU DifferencesFeatures RSU OBURadios 2 2 (early version 1)Specification USDOT DSRC

4.1None/ Does not exist

FCC Licensing Required VendorInstallation Infrastructure VehiclePower 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 CANOperating 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,…

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

Positioning AccuracyDSRC RangeData (BSM)

• What Applications?BSM BroadcastSPaT Receiver/DisplayPriority Request Generator (Signal Request Message)

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Installation ExamplesPermanent? (MCDOT)

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Installation ExamplesAdhoc (MCDOT)

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Installation ExamplesCALTRANS

Arada LocoMate

mini 2

Savari MobileWAVE

S103

Savari MW-1000

Number of Radios 1 2 2Standards 2009 2009 2016DSRC 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 YesUse of CAN? No No No

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Installation ExamplesCALTRANS

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Installation ExamplesUDOT

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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 ExamplesNew York (USDOT CV Pilot)

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Installation ExamplesSPaT Challenge: Simple Installation

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Lessons Learned

• Procurement Considerations• Configuration • Installation• Operations• Performance

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Webinar Wrap-Up and Q&A

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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

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

Upcoming SPaT Challenge WebinarsDesign Considerations, Part 2 April 17, 2018 2:00-3:30pm ETMAP Creator Tool Demonstration April 24, 2018 1:00-2:30pm ETDesign Considerations, Part 3 May 15, 2018 2:00-3:30pm ETDeployment & Validation June 12, 2018 2:00-3:30pm ET