www.dot.state.mn.us/guidestar cooperative intersection collision avoidance systems – stop sign...

www.dot.state.mn.us/guidestar

Cooperative Intersection Collision Avoidance Systems – Stop Sign Assist (CICAS-SSA)

ITS America 2007 Annual Meeting

Session 32

June 5, 2007


Outline

– Background– Project Overview– Status– Conclusion– Resources


Background

• Four CICAS research projects sponsored by USDOT– Cost-Benefit Analysis Tool (USDOT)– Violations (CAMP)– Signalized Left Turn Assist (California)– Stop Sign Assist (Minnesota)


Project Overview

• CICAS-Stop Sign Assist (SSA) is being done in partnership with:– USDOT/FHWA– Mn/DOT– University of Minnesota-ITS Institute


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


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


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


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


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


Project Overview

• Minnesota test intersection at US52 and CSAH 9 (Goodhue County)


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


Project Overview

Radar SensorPower, CommunicationLocal Processor


Project Overview

LidarVehicle

Classification


Project Overview

Cameras for Crossroad Surveillance(Visible and Infrared)


Project Overview

Humans ReadNumbers

License Plate Reader

- Digital Camera- Remote Trip- IR Illuminator


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


Project OverviewPortable Data Collection

System


•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


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


• 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


Baseline

Warn

Margin

Gap Gap Gap Gap

LagLag

Compared to baseline, which concept is effective?

Project Overview

= Higher compliance

Advise Inform/Advise Warn/Advise


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


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


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)


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


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


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]

www.dot.state.mn.us/guidestar cooperative intersection collision avoidance systems – stop sign...

Documents