Cooperative Intersection Collision Avoidance SystemsInitiativeMay 2005, ITS America Annual Meeting

Mike Schagrin

ITS Joint Program Office

U.S. Department of Transportation

Why The Concern About Intersections

• In 2003, approximately:– 9500 FATALITIES– 1,300,000 INJURIES – 2,600,000 CRASHES

• Cost to society $100 Billion

Intersection Problem Areas Being Addressed

• Stop sign and signal violations Left turn across path of

on-coming traffic Stop sign movement assist

• Gap assistance

Accident Causal Factors

Impaired drivers Aggressive drivers Inexperienced / Elderly drivers Obstructed vision (limited sight lines) Other (Presence of peds, bicyclers, poor

weather, etc.)

Range Of Possible Countermeasures

Warn the Driver

Modify Signal Timing

Partial Vehicle Control

Full Vehicle Control

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

CICAS PartnersPublic / Private/Academia

DAIMLERCHRYSLERDaimlerChrysler Research and Technology North America, Inc.

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

CICAS Concepts

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

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

Signal Violation Warning: Vehicle Approaching

Example Scenario

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

Areas of R&D for Violation Countermeasures

• Wireless Communication (DSRC)

• Human Factors– DVI

• Traffic Control Interface

• Threat Assessment

• Positioning Enhancement

Violation Countermeasures

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

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

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

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

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

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

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