Jan 13, 2008 - In-vehicle Signing. ⢠Vehicle Driver. Interface. Heads Up Display. Control System. Speed. 35. Limit. Speed. 13. Control System. Status (*).
Traffic Control in a VII Environment Larry Head,University of Arizona Traffic Signal Systems Committee Workshop Vehicle Infrastructure Integration (VII) and Collaborative Intersection Collision Avoidance System (CICAS) TRB Annual Meeting – Washington, DC Sunday January 13, 13 2008 1
Assumptions • Vehicle V hi l IInfrastructure f t t Integration I t ti (VII) will ill support communication between Vehicles (with intelligence) and the Traffic Control Infrastructure (with intelligence) • Current Traffic Signal Control technologies are not sufficient to achieve the goals of improved safety and efficiency • New models, models methods methods, and technologies will be developed, deployed, and operated to meet these g goals - otherwise we are “missing g the boat” © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Today’s Traffic Signal Controller Features – How did we get here??? • “Why should I wait when • • • • •
there are no opposing vehicles?” “I want to safely walk across the street” “I want to progress though all of the intersections on the arterial.” “What do we do about the ttrain a crossing c oss g tthe e road?” oad “The Emergency Vehicles shouldn’t be delayed!” “Why y do you y stop p my y buses?”
© 2008 K. Larry Head, Ph.D.
Vehicle Actuated Control P d t i Pedestrian Intervals I t l Coordination Railroad Preemption EV Preemption Transit Priority
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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New Controller Features in a VII Environment….. • “Warn me if a vehicle is going • • • • •
to violate a signal control” “Can the signal change to help prevent an accident? accident?” “How is the signal performing?” “Can Can you optimize signal timing in real-time?” “What if several buses arrive at the same time?” “I can’t always see the traffic signal (e.g. behind truck in left turn lane) © 2008 K. Larry Head, Ph.D.
Cooperative Intersection Collision Avoidance - CICAS
Vehicle Based Performance Measurement Adaptive/Optimal Signal Control Adaptive Priority Control In-vehicle Signing
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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New Control Paradigms in a VII Environment….. • “Warn Warn me if another vehicle •
enters my safe (conflict) space” “Warn me if I enter another vehicles safe (conflict) space”
• “Why should I wait for the signal to change if there is a gap in opposing traffic?” traffic?
Predictive trajectory safety Warnings (Vehicle based)
Vehicle Based Shared Right-of-Way Control
me to avoid a collision”
Vehicle Safety Driver Assist
•
“Drive on the highway for me…….”
Autonomous Vehicle Control
•
Drive for me in congested congested, city “Drive traffic”
Complex Networked Control Systems
• “Maneuver (steer or accelerate)
© 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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VII Architecture + Traffic Control Infrastructure Other communications WiFi WiFi, Cellular etcetera
GPS
Antenna
V-V
GPS
VEHICLES
Other vehicles
FIELD
Antenna
Driver
Onboard Equipment (OBE) Other communications
GPS
HMI interface
OBE
OBU
Applications processor
VII IPv6 Network VII Message Switch Registrations Subscriptions Operations Rules Management Maintenance
Vehicle services
RSU Provisioning server
Other Message Switches
© 2008 K. Larry Head, Ph.D.
HMI
Signal controller
Body chassis systems
Local safety processor
GPS Antenna
Roadside Equipment (RSE) RSU & GPS processor receiver
I/O Controller
Router
Significant Traffic Control In VII Environment Component
TOCs and other public sector users
VII network management applications Firewall
GSA Certification Authority (CA) Gateway to other communication systems
RSU’s DSRC antenna
DSRC
OEM/ISP applications
Map and differential corrections server
CENTERS
Note: Grayed boxes are peripheral and not part of the core VII architecture
OBE Provisioning server Content and services
EXTERNAL USERS
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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VII – Information from the Intelligent Vehicle
Safety Systems Radar Collision Warning Intelligent Cruise Control Navigation Other Commercial Apps
© 2008 K. Larry Head, Ph.D.
• • • • • • • • •
ID: Location: (Long, Lat, Alt) S Speed: d 53 53.24 24 f fps Acceleration: -1.2 f/s^2 Class: Passenger Route: Next Left Status: Normal Link Travel Time: 63 63.04s 04s Path=(………..)
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Basics: Why Traffic Control? • Efficiency Shared use of infrastructure right-of-way in a way that does not result in unnecessary delay Characterize by • Actuated (state-of-the-practice today) • Adaptive (some deployments, not typical) • Optimizing (R&D)
• Safety Share use of infrastructure right-of-way in a way that does not result in accidents accidents, collisions collisions, or harm to property or person Characterize by • Structured (by controller structure - e.g. dual ring) • Aware (vehicles aware of signals and vehicle dynamics) • Active (cooperation between signals and vehicle controls) © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Control for Safety and Efficiency Information Richness
Complex Networked Control Systems
Vehicle Control Vehicle Trajectories
7 6
CICAS-V
Vehicle Dynamics
4
Vehicle Performance
Today
Vehicle Based Safety
5
3 3.5 EV Priority
Possible Early VII Application
1
Detection
2
Actuated Structured © 2008 K. Larry Head, Ph.D.
Adaptive
Optimizing
Aware
Active
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
Efficiency Safety 9
Detection and Actuation
Today
1
2
Movements Phases Detectors
Dual Ring, Ring 8-Phase 8 Phase Controller © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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3
Possible Early VII Application
Vehicle Performance Measures f Adaptive for Ad ti Control C t l •413256 •(106.23,52,23,2043.7) ( , , , ) • Delay = 3.4 sec • Travel Time = 61 sec • Path = (…………)
•65324 •(106.23,56,23,2043.1) • Delay D l = 17 17.3 3 sec • Travel Time = 132 sec • Path = (……………..)
Signal Delay Queueing Delay Travel Time Start up Loss Time Saturation Flow Turning Counts Dilemma Zone Events
•Unequipped •(106.23, 56.21, 2043.1) • Delay = 22.5 sec • Travel Time = unknown • Path = Unknown © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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3
Possible Early VII Application
Adaptive Control and Priority •
R81 = 42 Delay = 6 Seconds
t11
t31 + v31
t12
t11 + v11
t21 + v12
2
1
t12 + v12
t41
t22
t32 + v32
t +v t31
1 4
1 4
4
3
t12
2
1 2 5
t +v 2 2
2 2
t32
3
t42 4
Trade-off Trade off Performance Measures
t42 + v42
• • • •
t t51
5
t51 + v51
t =0
6
1 t61 + v16 t7
t61
t = 28
7
8
t71 + v71
t81
t81 + v81
t = 48
5
t52 + v52
6
t62
t62 + v62
t72
7
8
t72 + v72
Multi-Modal Delay
t81 + v82
t82
Time
Progression g • • •
• • © 2008 K. Larry Head, Ph.D.
Transit Passenger Vehicles Pedestrians Trucks Stops “Smoothness” Travel Time
Control Decisions with Quantified Performance Congestion Mitigation and Control
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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3
Possible Early VII Application
Adaptive Control and Priority 3.5 EV Priorityy
• Intelligent I t lli tP Priority i it ffor Emergency Responders VII Communication of Request for Priority VII Signal Si l Status St t Returned to EV • Shows multiple requests t on different diff t approaches
Arizona E-VII Effort © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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CICAS
4 •65324 •(106.23,56,23,2043.1) • 53.24 53 24 f fps • -1.2 f/s^2 • Passenger • Next Left
5
Vehicle Based S f t Safety •413256 •(106.23,52,23,2043.7) • 66.01 fps • +.024 + 024 f/ f/s^2 ^2 • Police • Thru
Analogous to Air Traffic Controller R d Display Radar Di l •Unequipped •(106.23, 56.21, 2043.1) •51.73 fps •-0.8 f/s^2 / •unknown •unknown © 2008 K. Larry Head, Ph.D.
Used to support Safetyy & Control 2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Safety Conflict Analysis • Models M d l tto predict di t
PET e c n ta s i D
crossing vehicle TTC
conflict point
projected arrival at conflict pt
MaxS and DeltaS
encroachment begin
actual arrival at conflict pt encroachment Initial Deceleration end Rate Vehicle begins braking
Through vehicle
t 1
t 2
t 3
t 4
t 5
measures of safety as inputs p to vehicle and signal control Time to Collision (TTC) Post Encroachment Time (PET) Maximum Speed (MaxS) Speed S d Diff Difference (D (Delta lt S)
Tim e
Source: Gettman, Head, “Surrogate Safety Measures From Traffic Simulation Models”, FHWA Report FHWA-RD-03-050
© 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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CICAS Counter Measures •65324 •(106.23,56,23,2043.1) • 53.24 fps • -1.2 f/s^2 • Passenger • Next Left
•413256 •(106.23,52,23,2043.7) • 66.01 fps • +.024 f/s^2 • Police • Thru
•Unequipped •(106.23, 56.21, 2043.1) •51.73 fps •-0.8 f/s^2 •unknown •unknown
In-Vehicle Counter Measures • Heads-Up p Display p y • Audible Warning
Safety Conflict Measures © 2008 K. Larry Head, Ph.D.
Infrastructure Counter Measures • Active Signs • Traffic Signal Control Modifications •Red Extension (?) •Early Termination (?)
•Automatic Braking •Steering Maneuvers to Reduce Collision Impact
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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In-vehicle Signing • Today T d we have h iin-vehicle hi l navigation systems GPS Location Vehicle Status Vehicle Routing
© 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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In-vehicle Signing • Vehicle Driver Interface Heads Up Display Control System Status (*)
Speed Speed 35 Limit
13
• Phase near end of extension interval
Roadway Segment Speed • Progression Speed
Warnings • Unusual Vehicle Behavior
© 2008 K. Larry Head, Ph.D.
Warning: Navigate: Left Turn Behavior Traffic Controller must publish Signal State Infrastructure publish Warnings and Speed
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Complex Networked Control 7 Systems 6
• Recent efforts and developments in Control Systems Theory: S. Martinez, J. Cortes, and F Bullo, F. Bullo “Motion Motion Coordination with Distributed Information”, IEEE Control Systems Magazine, August 2007 From IEEE Control Systems Magazine Feb. 2004 © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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VII - Traffic Signal Control •
Integration of Vehicle Data into Control Algorithms
Vehicle State Estimation • • •
•
Trajectory Performance F i off traditional Fusion t diti l and d VII data d t
Inputs to Control
Priority Request Generation Vehicle Class Priority (Transit, Snowplows, Trucks, etc.) CICAS (Safety) ( y)
Control State Information Broadcast to VII
Active Phase, Interval, and End Times Outputs from Control Opportunistic Service Intervals P di t d C Predicted Conflicts fli t Trajectory controls (e.g. max acceleration, steering)
© 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Conclusions • Traffic T ffi Si Signall System S t improvements i t will ill iinclude l d both infrastructure and vehicle controls • We have opportunities for immediate impacts of integrated technologies with Vehicle Performance Measures Adaptive and Optimizing Control
• We need to start conducting research on how traffic control can benefit from developments in Complex Networked Control Systems - this is likelyy where the real solution lies © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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Questions? Two quotations from Driving Questions: Developing a National Transportation Vision, Joseph M. Giglio, The Hudson Institute, 2007.
“Today’s “T d ’ problems bl can’t ’t b be solved l db by thi thinking ki tto way we thought when we created them.” Albert Einstein
“..[we need to] find 21-st-century solutions for 21-st-century transportation problems. … We can’t assume that the methods of the p past will work for the future. Instead we are going to have to recognize that our transportation challenges have changed dramatically in the forty years since this department came into being, and so must our approaches.” Mary Peters Peters, Secretary of Transportation Transportation, 2006 © 2008 K. Larry Head, Ph.D.
2008 TRB Traffic Signal Systems Committee Annual Meeting Workshop
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