New York City (NYC) Pilot Update at the System Design Milestone

Transcription

1 New York City (NYC) Pilot Update at the System Design Milestone Mohamad Talas (NYCDOT, NYC CVPD Project Management Lead) 1

2 Project Goals New York City is aggressively pursuing Vision Zero Traffic Death and Injury on City streets is not acceptable Vision Zero Goal : to eliminate traffic deaths by 2024 NYC CV Pilot will evaluate Safety benefits of CV technology Address CV deployment challenges With a Large number of vehicles & types Issues associated with the dense urban environment 2

3 LOCATIONS (MANHATTAN, BROOKLYN) Manhattan V2I applications work where infrastructure is installed (along highlighted streets). V2V applications work wherever equipped vehicles encounter one another. The CV project leverages the City s transportation investments Source: NYCDOT 33

4 CV STAKEHOLDER/USER DEPLOYMENT Vehicles Up to 8,000 fleet vehicles with Aftermarket Safety Devices (ASDs): ~ 3000 Taxis (Yellow Cabs) ~ 700 MTA Buses Operating Statistics: ~ 3000 Sanitation & DOT and Vehicles are in motion or active ~14 hours per day! Average taxi drives 197 miles per day City fleet vehicles Pedestrians Fleet total Vehicle Miles Traveled: >1.3 Million Miles per day ~40 Million Miles per monthsource: USDOT Pedestrian PIDs Visually Impaired 100 Subjects PID PED in Crosswalk 10 Fully Instrumented Int. 44

5 Safety Applications - 1 Vehicle-to-Vehicle (V2V) Safety Applications Vehicle Turning Right in Front of Bus Warning Forward Collision Warning Emergency Electronic Brake Light Blind Spot Warning Lane Change Warning/Assist Intersection Movement Assist Vehicle-to-Infrastructure (V2I) Safety Applications Red Light Violation Warning Speed Compliance Curve Speed Compliance Speed Compliance/Work Zone Oversize Vehicle Compliance Prohibited Facilities (Parkways) Over Height Emergency Communications and Evacuation Information (Traveler 5

6 Additional Applications Pedestrian Mobile [Visually Impaired] Ped Signal System navigation assistance Pedestrian in Signalized Intersection Warning to vehicles Traffic Management CV Data for Intelligent Traffic Signal System Roadway segment travel times Operations, Maintenance, and Performance Analysis RF Monitoring OTA Firmware Update Parameter Up/Down Loading Traffic data collection Event History Recording Event History Up Load To Evaluate the benefits 6

7 OVERALL PROJECT CONCEPT PED APP 4G Source: NYCDOT 77

8 WHERE ARE WE NOW? Phase 1 Deliverables: Concept of Operations Security Management Operating Concept Safety Management Plan Performance Measurement Plan, System Requirements Application Deployment Plan Human Use Approval Summary, Training and Education Plan Partnership Status Summary, Outreach Plan Comprehensive Deployment Plan, Deployment Readiness Summary Phase 2 Design & Deployment Deployment of 100 Prototype ASD and 15 RSU Developing TMC software to support CV Working with a PED application developer non DSRC Interoperability testing Preparing for production time 8

9 Installation Planning and Testing Developing MAP message Content (USDOT) Planning RSU installation sites Establishing Installation partners Developing vehicle installation kit designs Working with vendors Working with Fleet owners Running samples awaiting prototypes 9

10 Vehicle Installation 35 Prototype Fleet vehicle installed Testing through the glass and drilled mountings Working with various different vehicle types 10

11 Aftermarket Safety Device Two terms Aftermarket Safety Device (ASD) On-Board Unit (OBU) Includes: receiver and antenna GPS Dedicated Short-Range Communications (DSRC) These devices: Determine time & vehicle location from GPS signal Broadcast the Basic Safety Message (BSM) Here I am (location & speed) Where I ve been (last few seconds-path history) Where I m heading Vendor 1: Danlaw V2X Aftermarket Safety Device Listen for other nearby Vehicle s BSMs Listen to Roadside Units (RSU) traffic signal status & geometrics CV applications process messages from remote vehicles to identify potential threats CV applications process traffic signal status to identify possible intersection intrusion Alert the driver of the threat using a combination of audible tones and speech Vendor 2: Savari MobiWave V2X Aftermarket Safety Device 11

12 Aftermarket Safety Device (Antennas) Two types of antennas are being deployed. The Antenna installed depends on feasibility and any limitations on vehicle types/makes/models and any other aftermarket equipment currently installed such as (Comm Radios, Emergency light bars, etc) MobileMark Antenna Savari Hircshmann single casing 2 DSRC, 1 GNSS antenna (Requires roof drilling/access) Mobile Mark single casing 2 DSRC, 1 GNSS antenna (Requires roof drilling/access) Hirschmann Antenna Danlaw Danlaw through Glass Stub Antenna 2 DSRC, 1 GNSS antenna Danlaw through the glass Stub Antenna 12

13 NYC DOT Installations NYC DOT Installation See Ford F-550 Light Duty Vehicle Installation Various Makes/Models/Year NYC DOT vehicles are being equipped with prototype ASDs in order to fine tune and optimize installation methods and approaches NYC DOT Vehicles 770 Toyota Prius RAV4 Ford Fusion F-150 F-550 Chevrolet Silverado HD3500 Economy 13

14 MTA Installation Progress made on installing 2 NYC Transit Buses Nova Bus LFS FT Articulator (2011) New Flyer T 60FT Articulator (2017) The buses were installed to test RF DSRC communication with light vehicles, and to develop an installation template MTA has committed 700 vehicles for the CV Project 14

15 Taxi Installation Taxi Installations are estimated at 5000 vehicles between the participating fleet owners Curb and CMT, are 2 authorized technology installers for TLC that have been engaged in installing ASD equipment in their vehicles Taxi fleet is expected to include: Toyota Prius Sienna RAV4 Nissan NV

16 DSNY Installation DSNY have offered 170 participating vehicles NYC CV Team is currently surveying the vehicles for feasibility of installation and RF communication DSNY Vehicles include: Light Duty supervisor vehicles Toyota Ford GM Heavy Duty Trucks Granite Trucks Mack Trucks Global Sweeper 16

17 Cybersecurity Is Fundamental to CV Deployment CV depends on a trusted environment - vehicles & infrastructure Message authentication (BSM, SPaT, MAP, TIM, etc. ) Data encryption of (To preserve privacy) Requires Equipment Certification RF technology (IEEE p, IEEE1609.x) Message content SAE J2735 BSM Performance SAE J2945/1 Applications (& data accuracy) Organizational IT security Physical security of the TMC systems Login and security practices Protection for all connections and data exchanges CV Hardware Impact Hardware Security Module (HSM) for the TMC system HSM inside the ASD/OBU and RSU 17

18 System Architecture: Security Everywhere Security is a major Issue Each link is a secure connection Each media has different issues Security System design addresses all of the links! 18 U.S.of Department of Transportation U.S. Department Transportation 18

19 Challenge Scalable OTA Data Exchanges Push (10 MB+) software updates to 8,000 vehicles efficiently over DSRC No WiFi and No LTE/4G Developed Scheme to support broadcast updates ASD s read WSA from Control Channel Directed to Service Channel if RSU supports Updates RSU broadcasts available updates Some updates broadcast (continuous) some available by unicast Vehicles initiate update using unicast or monitor broadcast streams Using licensed software to manage the efficient breakdown and assembly Efficient Channel Use Privacy is maintained 19

20 NYC CV Pilot Challenges: Communication between TMC and RSU MAPs/TIMs Via SNMPv3 RSU Data logs TLS 1.2 ASD Data logs TLS1.2 Web Socket TMC Challenges Solutions Securely Collect Data from Participant Vehicles Cope with Unreliable WAN Connection Establish Trust in Intersection MAP and TIMs Secure TLS communication with added layer of endto-end encryption of participant data Perform EdgeComputing on HighEnd RSU with Local Storage Capabilities End-to-end authentication via TMC Pre-signed J2735 MAP and TIM messages 20

21 NYC CV Pilot Challenges: Overt-the-Air ASD Update (OTA) OTA Firmware X.509 Certificates TLS 1.2 Web Socket RSU OTA UDP RLNC p TMC Challenges Solutions 7000 vehicles have to stay updated Requires high rate Dedicated RSU located in taxi hold lots Efficient and fast Random Linear Network Coding Firmware Updates are encrypted Download ondemand if ASD requires a specific version OTA can be interrupted OTA must be secure Vehicles in other parts of the City can fall behind in updates 21

22 Challenge Location Accuracy Location Accuracy Urban Canyons pose issues (both relative V2V and absolute V2I) Dropout at underpasses Loss of GPS lock ASD vendor demonstrated RSU triangulation Established Compound ASD requirements: Dead reckoning, Triangulation with static DSRC locations, Map matching, Tethered to the vehicle - vehicle interface Testing has been promising! 22

23 How V2X-Locate Works positioning software achieves sub-meter location positioning and is over 275% more accurate than comparable GNSS solutions Road Side Unit Infrastructure is supported by Road Side Units (RSU) which are typically installed by road authorities or third parties V2X-Locate uses ranging measurements to fixed RSUs to enable enhanced positioning accuracy On-Board Unit Vehicles are equipped with On-Board Units (OBU) that allow a vehicle to communicate with other vehicles, pedestrians, infrastructure and the cloud Multipath Reflection s A signal transmitted over a wireless channel can suffer from a multipath effect which is a propagation phenomenon that results in radio signals reaching a receiver by more than one path Multipath is typically due to signal reflection from objects in direct line-of-sight The multipath effect is the main cause of GNSS degradation V2XLocate Engine Sensor Fusion Ranges from spatially separated RSUs are fed into enhanced V2X-Locate positioning engine to accurately position the vehicle Through the advanced processing capabilities of The Software Defined Radio, the V2X-Locate solution is able to calculate a true line-of-sight path regardless of the existence of multipath signals 23 positioning engine determines the true line-ofsight path in the OBU allowing the vehicle to know it s position V2X-Locate fuses this with a state-of-the-art automotive grade GNSS module, achieving accuracy down to sub 1m compared to 2.5m with GNSS alone 23

24 V2X-Locate Architecture While V2X-Locate is more accurate than traditional GNSS, it is not intended to replace GNSS, but instead integrate and compliment this technology V2X-Locate Description V2X-Locate solution integrates vehicle sensors such as speed, yaw rate and Inertial Measurement Unit (IMU) output to improve the robustness and accuracy of the positioning solution V2X-Locate can seamlessly integrate with GNSS data if the solution believes the data to be quality However, enhanced signal processing and positioning algorithms can provide accurate vehicle position irrespective of GNSS availability or quality Outside of the V2X equipment already installed, V2X-Locate requires no additional hardware, simplifying deployment and system integrations V2X-Locate is capable of operating in all V2X and CAV operational scenarios including: Underground tunnels Bus, tram and train yards Parking garages Urban canyons V2X-Locate Architecture Vehicle Sensors RSU Ranging Measuremen ts GNSS Sensor Fusion 24 24

25 RSU Triangulation V2X-LOCATE Only market valued positioning solution for GPS challenged environments such as: Multilevel parking garages Mountains Tunnels Forests Urban canyons EXPECTED PERFORMANCE <1m 95% of the time* V2X Locate uses standard RSUs and OBUs standard V2X over the air messages to determine position of vehicle by ranging RSU location known thanks to standard advertisements Fuses vehicle sensors and GNSS when available. * Based on recommended deployment set-up 25

26 Product differentiator No additional HW vs conventional V2X City / Car OEM install Doesn t require GNSS availability Demonstrated in very tough New York 6th Ave Percent ile Erro r 68 70c m 90 80c m Erro 90c r m 67c m Results are Performance 68 exceeds SAE J2945 requirements (68% <901.5m)77c Percent 95 ile m 95 83c m 26

27 Other Technical Challenges Adjusting the applications for 25 MPH and Freeway speeds CAN/J (vehicle) Bus Interface Vendor resistance to providing necessary engineering information Purchasing a gateway device Many different vehicle types and model years Varied installation kits The Good part they are fleets we drill holes! Verifying platform stability under all situations 27

28 Thank You CVP.NYC Mohamad Talas, P.E., PhD, 28