www.dot.state.mn.us/guidestar cooperative intersection collision avoidance systems – stop sign...
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Cooperative Intersection Collision Avoidance Systems – Stop Sign Assist (CICAS-SSA)
ITS America 2007 Annual Meeting
Session 32
June 5, 2007
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Outline
– Background– Project Overview– Status– Conclusion– Resources
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Background
• Four CICAS research projects sponsored by USDOT– Cost-Benefit Analysis Tool (USDOT)– Violations (CAMP)– Signalized Left Turn Assist (California)– Stop Sign Assist (Minnesota)
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Project Overview
• CICAS-Stop Sign Assist (SSA) is being done in partnership with:– USDOT/FHWA– Mn/DOT– University of Minnesota-ITS Institute
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Background
• What can Stop Sign Assist do?– Alert of
approaching vehicles
– Inform of gap size
– Warn of insufficient gap
– Advise against unsafe actions
Assist stopped driver in determining insufficient gap to enter or cross
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Background
• Crashes in rural areas are more severe than in urban areas– 70% of all crashes in Minnesota occur in urban areas– 70% of fatal crashes occur in rural areas
• Minnesota’s Trunk Highway System– More rural through/stop intersections (3,920) than all
categories of urban intersections (3,714) combined
• Between 1998-2000, 62% of all intersection-related fatal crashes occurred at rural through/stop intersections
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Background
• Stop Sign Assist is also rooted in previous Intersection Decision Support (IDS) work– Minnesota IDS project focused on identifying
driver error causal factors, such as:• Driver looks, but does not see other vehicles• Driver misjudges gap or speed of approaching
vehicles
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Background
– Reducing Crashes at Rural Intersections: Toward a Multi-State Consensus on Rural IDS TPF-5(086) is focusing on:
• Characterizing rural intersection crashes throughout United States
• Identifying regional differences in driver behavior
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Project Overview• Project goals are:
– Identify driver characteristics and driving factors relevant to safe gap acceptance
– Develop gap models and algorithms which will drive the timing of information and warnings
– Conduct in-vehicle research at the instrumented intersection to provide refined model of gap acceptance and warning timing
– Implement a system consistent and interoperable with other Vehicle Infrastructure Integration (VII) programs
– Research, design and develop a deployable Driver Infrastructure Interface (DII)
– Conduct field operational test to evaluate algorithm effectiveness– Coordinate with CICAS-V, CICAS-SLTA and CICAS-CBAT
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Project Overview
• Minnesota test intersection at US52 and CSAH 9 (Goodhue County)
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Project Overview
Radar Sensors
Lidar Sensor for Stopped vehicle
detection
Lidar Sensor for Vehicle
Classification
Vehicle waiting to enter traffic
stream
Camera for crossroad
surveillance
MainlineMinor road
Crossroad
Radar coverage field of view
Lidar coverage field of view
Crossroad camera field of
view
Mainline Vehicles
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Project Overview
Radar SensorPower, CommunicationLocal Processor
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Project Overview
LidarVehicle
Classification
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Project Overview
Cameras for Crossroad Surveillance(Visible and Infrared)
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Project Overview
Humans ReadNumbers
License Plate Reader
- Digital Camera- Remote Trip- IR Illuminator
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Project Overview
Zone 1
Zone 7
Zone 8Zone 2
Stop Bars
• Measure gaps as vehicle clears stop line area
• Add startup time to determine actual gap
• Correlate gap with:- Vehicle Classification- Turning Movement- Median Wait Time
- RWIS Data- Time of DayOwner Demographics
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Project OverviewPortable Data Collection
System
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•8 channels •3D surround sound•Car body vibration•Force feedback steering•Power-assist feel on the brakes•3-axis electric motion system
• Ability to model precise reproductions of geo-specific locations
• Resolution = 2.5 arc-minutes per pixel
Project OverviewU of M Driving Simulator
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Project Overview
• Infrastructure To Vehicle– Intersection Geometric Map– Intersection state map
(location/speed/heading of mainline vehicles within range)
– Road weather condition?– Infrastructure gap warning
state
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• Vehicle To Infrastructure– Vehicle classification and
characteristics– Turn signal state– Driver gap acceptance parameters – Current in-vehicle gap warning state– Brake state (for future use)?– Anti-lock/traction control state?
Project Overview
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Baseline
Warn
Margin
Gap Gap Gap Gap
LagLag
Compared to baseline, which concept is effective?
Project Overview
= Higher compliance
Advise Inform/Advise Warn/Advise
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Status
IDS CICAS-SSA
GapModel
SituationAnalysis
Concept Study
TranslationStudyDII Concepts
Paramete
rs
Scope
ValidationStudy Pilot FOT
FOT
Evaluation M
ethodology
Evaluation
Compliant DII Deployable DII
Alert/TimingAlgorithms
CAMPDVI
Years One thru Three Years Four and Five
USDOT Concurrence
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Status
• Cooperative Agreement initiated project in November 2006
• Project Management and Risk Management Plans complete
• Developing Concept of Operations– Situation analysis/functional scope for DII
complete
• Data collected complete in states of MN, WI, MI, IA and NC
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Status
• Main findings to-date:– Mean Accepted Gap = 7.0 Seconds
(Ignoring gaps > 10 seconds)– Accepted gap inversely related to traffic volume– Accepted gap bigger with decreased visibility
and with increased precipitation– Accepted gap similar for all vehicle
classifications (artifact of measuring method)
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Conclusion
• Stop sign gap acceptance is a real problem
• IDS and CICAS solutions have potential to address the problem
• Stop sign assistance systems are feasible in a reasonable time period
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Resources
• National CICAS Program– http://www.its.dot.gov/cicas/index.htm
• Minnesota IDS Project– http://www.its.umn.edu/research/applications/ids/
index.html
• Reducing Crashes at Rural Intersections: Toward a Multi-State Consensus on Rural Intersection Decision Support TPF-5(086)– http://www.pooledfund.org/projectdetails.asp?
id=306&status=4
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Resources
• Ray Starr, Mn/DOT– 651.234.7050. [email protected]
• Ginny Crowson, Mn/DOT– 651.234.7058, [email protected]
• Max Donath, U of M-ITS Institute– 612.625.2304, [email protected]