The Virginia Connected and Automated Corridors Zac Doerzaph Virginia Tech Transportation Institute

Notable CV Efforts Underway at VTTI *Virginia Connected and Automated Corridors (VDOT/VT) – focus of this presentation Connected Vehicles and Infrastructure University Transportation Center (OST/VDOT/VT/UVA/Morgan State) – over 23 CV projects funded V2V systems engineering and vehicle integration research (CAMP/NHTSA) Human Factors for Connected Vehicles Program (NHTSA) Several other CAMP/USDOT collaborative efforts covering both V2V and V2I

Northern Virginia Connected-vehicle Test Bed

Where are we headed? Bring Virginia Connected Corridors (VCC) to maturity Complete the infrastructure build out Build a developer friendly CV environment Recruit drivers with frequent corridor interaction Begin providing solutions to local challenges while taking a leadership role in national CV Deployment activity CV Pilot Regional Deployment Up to $20M federal funding Regional deployment that addresses real world transportation challenges

CV Pilot Regional Deployment VDOT submitted proposal with partners VTTI and Iteris at the end of March ‘15 Several awards expected nationally – a few large scale such as VA’s proposal Each pilot deployment site is expected to be developed in three distinct phases Phase 1: Concept Development (12 months) Phase 2: Design/Build Test (up to 20 months) Phase 3: Operate and Maintain (18 months) Only recipients of Phase 1 funding will be eligible for Phase 2 and 3 funding

Team Effort

Backend Software Development Activities Mature the Virginia Connected Corridors (VCC) Environment Build a scalable data management system from the ground up Integrate infrastructure components Provide key system services Archive message traffic Create a developer-friendly CV environment that facilitates rapid application deployment Expose message traffic and communications mechanisms to application developers – security and privacy retained! Create open API/SDK with reference applications for 3rd party developers Build our own initial applications using these tools to validate the process Develop VCC Situation Awareness Create a monitoring application that facilitates situation awareness of CV asset activity on the corridor (e.g. RSE status, backend connectivity, OBE status, etc.) Evolve tools to account for deployment scale Develop analytics and performance monitoring tools

High Level Application Architecture

Near-term Development on VCC Complete basic functionality build-out Finish cellular communications handling capability Expand the asset management capability Asset status reporting, software versions, etc. Implement application store deployment strategy Equip an additional 50 vehicles on corridor Initially with OBEs to exercise message handling More capability as application development and deployment require it Expand RSE installations Resolve connectivity issues with existing installations Install additional RSE Create detailed specifications for initial end-user applications

Software Development Challenges Immature Standards OTA standards are the most exercised but still fluid Other message standards are not yet complete or consistent Expecting multiple iterations moving forward Security Unclear who operates SMCS and other services Federal activities are working to standardize security What to do in the interim? Speculative Development Requirements either don’t exist or are evolving Can’t wait for full specification before starting

A toolset for Connected Automation Research and Development Created through a partnership between

The Challenge Challenge = Opportunity Vehicle automation development is progressing at a rapid pace Pre-deployment testing requires complex vehicle interaction scenarios and real roadway environments The availability of real-world test environments is extremely limited due to reliability and safety concerns Challenge = Opportunity

The Virginia Automated Corridors (VAC) Build an automation-friendly environment Support independent research and development Provide standardized test and certification protocols Make good on Governor’s Proclamation and facilitate automated systems-related business in Northern Virginia photo by Steven Mackay

VAC Test Bed Characteristics Smart Road – Controlled test environment with bridge, markings, intersections, weather-making capabilities, variable lighting, roadside equipment Virginia International Raceway – Reconfigurable track, operations at higher speeds, elevation changes, complex curves HOT lanes in NoVa – Open operational environment, limited- access express lanes Real roads in NoVa (I-66, I-495, I-95, rural) – Includes the many details and challenges of public roadway systems Potential for expansion to any public roadways to satisfy unique test requirements

Interstates and Arterial – 70 miles Rural Arterial – 22 miles Interstate – 48 miles

Routes 50/29 Arterials – 8 miles Part of current VCC test bed

Roads facilitate testing Open and controlled roadway networks to test systems at a variety of maturity levels Variety of real challenges on Nationally representative routes Lane Markings Prioritize painting along route to provide vision systems with needed contrast Different levels of degraded pavement markings in specified areas

Mapping/Localization Capabilities High-definition maps via Nokia HERE™ Ubiquitous 1 cm accurate localization via: Multi-channel, high-precision global navigation satellite system (GNSS) with real-time kinematic (RTK) corrections Inertial Navigation System (INS) providing dead-reckoning Independent road surface vision system providing précising lane position information Up to 100 Hz update rate

Data Acquisition Services DAS precisely records time-synchronized data to the nearest millisecond Base packages typically include: Connectivity to vehicle network(s), such as CAN, Ethernet, serial, etc. A minimum of two cameras; up to six cameras when needed Motion sensors (accelerometers, gyroscopes, and magnetometers) Radar, LIDAR, vision and/or other ranging/tracking sensor(s) Differential Global Positioning via multi- channel receiver and RTK corrections Additional sensors added as needed for specific efforts

Remote Monitoring and Data Streaming DAS connected via cellular connectivity to backend network at all times Allows for remote monitoring of system health; enables for remote system shutdown Allows for real-time viewing of telemetry data, including video Supports coordination of multi-vehicle scenarios Supports coordination of V2I applications

Certification for Safe Human Research Involvement Includes assistance with: IRB application and process management Smart Road safety evaluation prior to running on public roadways (moving towards certification process) License plate and insurance, which is provided through Virginia

Zac Doerzaph Director, Center for Advanced Automotive Safety Virginia Tech Transportation Institute Zac@vtti.vt.edu 540-231-1046