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Cooperative Intersection Collision Avoidance SystemsInitiativeMay 2005, ITS America Annual Meeting
Mike Schagrin
ITS Joint Program Office
U.S. Department of Transportation
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Why The Concern About Intersections
• In 2003, approximately:– 9500 FATALITIES– 1,300,000 INJURIES – 2,600,000 CRASHES
• Cost to society $100 Billion
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Intersection Problem Areas Being Addressed
• Stop sign and signal violations Left turn across path of
on-coming traffic Stop sign movement assist
• Gap assistance
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Accident Causal Factors
Impaired drivers Aggressive drivers Inexperienced / Elderly drivers Obstructed vision (limited sight lines) Other (Presence of peds, bicyclers, poor
weather, etc.)
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Range Of Possible Countermeasures
Warn the Driver
Modify Signal Timing
Partial Vehicle Control
Full Vehicle Control
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CICAS Program Goals
• To develop and demonstrate cooperative intersection collision avoidance systems
• To assess the value and acceptance of cooperative collision avoidance systems
• To develop and provide tools to support industry deployments
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CICAS PartnersPublic / Private/Academia
DAIMLERCHRYSLERDaimlerChrysler Research and Technology North America, Inc.
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Progression of CICAS Applications
Time
Com
plex
ity, C
ompr
ehen
sive
ness
Gap Assist Countermeasure
Warning of crashes in the intersection box due to distance misjudgments
Vehicle-To-Vehicle Communications Countermeasure
High DSRC market penetration Minimal infrastructureViolation and Gap applications
Traffic Signal/Stop Sign Countermeasure
Warning of a potential violation and crash
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CICAS Concepts
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Cooperative Violation Countermeasure Concepts
• The basic capability is for the vehicle to provide stop sign and traffic signal violation warnings
• The intersection could provide an infrastructure based countermeasure (e.g., adjust signal timing) resulting from the vehicle sending a warning notification
• The vehicle could exert some type of vehicular control countermeasure
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Cooperative Violation Countermeasure Scenario
Vehicle System
• DSRC• Safety Processor• GPS• Vehicle Sensors
Roadside Unit
• DSRC• Processor• DGPS• Intersection Map
Infrastructure to Vehicle
Geometric Map
Signal Controller Info
Differential Correction
Road Surface Conditions
• Driver Vehicle Interface (DVI)• Driver Vehicle Interface (DVI)• Driver Vehicle Interface (DVI)
Current phase
Time to phase change
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Signal Violation Warning: Vehicle Approaching
Example Scenario
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Current phase
Time to phase change
Cooperative Violation Countermeasure Scenario
Vehicle System
• DSRC• Safety Processor• GPS• Vehicle Sensors• Driver Vehicle Interface (DVI)
Roadside Unit
• DSRC• Processor• DGPS• Intersection Map
Vehicle to Infrastructure
Alert issued
Dynamic Info
Infrastructure to Vehicle
Geometric Map
Signal Controller Info
Differential Correction
Road Surface Conditions
Signal timing adjustments
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Areas of R&D for Violation Countermeasures
• Wireless Communication (DSRC)
• Human Factors– DVI
• Traffic Control Interface
• Threat Assessment
• Positioning Enhancement
Violation Countermeasures
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Gap Assist Countermeasure Concept
• Gap assist builds upon the violation concepts and technologies and adds stop sign and left turn gap assistance
• Countermeasures include both in-vehicle and infrastructure-based warnings
• Vulnerable road users such as pedestrians and bicyclists are addressed
• Additional vehicle control capabilities will also be investigated
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Gap Assist Countermeasure Scenario
Vehicle to Infrastructure
Alert issued
Dynamic Info
Infrastructure to Vehicle
Geometric Map
Signal Controller Info
Differential Correction
Road Surface Conditions
Intersection Sensors
Roadside Unit
• DSRC• Processor• DGPS• Intersection Map
Dynamic Objects
Vehicle System
• DSRC• Safety Processor• GPS• Vehicle Sensors• DVI
Geometric Map
Signal Controller Info
Dynamic Intersection
Mapping
• Sensor Fusion
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Dynamic Mapping Example
No Dedicated turn signals
No Dedicated turn signals
Left turn and through signals
Left turn and through signals
X
Lane Centerline
Intersection Location X
X
X
X
X
Stopping Location X
Intersection ID: 23983
1 2
3
4
5
6 7
10
9
8
Lane ID 5
Vehicle id
(can be arbitrary)1 2 3 … M
Distance from intersection in m
15 95 40 … 97
Lane 1 2 3 … 10
Speed in mph or m/s
35 37 45 … 40
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Gap Assist Countermeasure Scenario
Vehicle to Infrastructure
Alert issued
Dynamic Info
Infrastructure to Vehicle
Geometric Map
Signal Controller Info
Differential Correction
Road Surface Conditions
Intersection Sensors
Roadside Unit
• DSRC• Processor• DGPS• Intersection Map
Dynamic Objects
Vehicle System
• DSRC• Safety Processor• GPS• Vehicle Sensors• DVI
Geometric Map
Signal Controller Info
Dynamic Intersection
Mapping
• DVI (gap assist)• Sensor Fusion
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Areas of R&D for Gap Assist Countermeasures
• Wireless Comm. (DSRC)
• Human Factors– DVI
• Traffic Control Interface
• Threat Assessment
• Positioning Enhancement
• refinement
• Human Factors– DVI (gap), DII– Conflict resolution
• Not Applicable
• Threat Assessment (gap)– Sensor/data fusion– Dynamic Intersection Mapping
• refinement
Violation Countermeasures Gap Assist Countermeasures
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Vehicle-to-Vehicle Communications Research
• Research effort, specifically examining the creation of a dynamic intersection mapping capability by vehicle to vehicle communications
• Implementation of such a system would require significant DSRC market penetration and therefore is not envisioned as a near term deployment option
• Such a system could extend capability to both uninstrumented intersections and other non-intersection applications
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CICAS Roadmap
7/04 3/05 11/05 7/06 3/07 11/07 7/08 3/09 11/09
2 Years
Concept of Operations
Gap Demo (DVI)
Prototyping (Violation)
DVI
Prototyping (Gap)
Violation Demo (DVI)
DVI – Driver Vehicle Interface
Gap Demo (DII)
DII – Driver Infrastructure Interface
Preparatory Analyses
Independent Evaluation
Real World Testing (DVI)
Real World Testing (DII)
Real World Testing
2 Years