Connected and Automated Vehicle Education (CAVe)-in-a-box System Design Document

U.S. Department of Transportation
Federal Highway Administration
Office of Operations
1200 New Jersey Avenue, SE
Washington, DC 20590
ops.fhwa.dot.gov

PDF Version [3.1 MB]

April 2022

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Table of Contents

CHAPTER 1. INTRODUCTION

• BACKGROUND
• OBJECTIVES

CHAPTER 2. SYSTEM DESIGN

• INFRASTRUCTURE KIT
  • TSC
  • RSU
  • V2X Hub
  • Wired Network Switch
  • Wi-Fi Router with Cellular Network
  • Power Supply
  • Touchscreen Device
  • Mobile Kit
  • OBU
  • CAN Bus
  • Power Supply
  • Touchscreen
  • Wi-Fi Router with Cellular Service
• PHYSICAL CONNECTIONS
• INTEGRATED SYSTEM DIAGRAMS
• VENDOR LIST

CHAPTER 3. SETUP AND CONSTRUCTION

• SOLIDWORKS REPRESENTATIONS: INFRASTRUCTURE KIT
  • Current Kit
  • Future Design Alterations
• SOLIDWORKS REPRESENTATIONS: MOBILE KIT

CHAPTER 4. SOFTWARE CONFIGURATION

• V2X HUB INSTALLATION AND INITIALIZATION
  • V2X Hub
  • Plugin Configuration
• RSU CONFIGURATION
  • IP Address Setup
  • RSU Configuration for CAVe-in-a-box
• TRAFFIC SIGNAL CONFIGURATION
  • IP Address Configuration
  • SPaT Forwarding IP Address
  • Enabling SPaT Forward
• Wi-Fi Router Configuration

CHAPTER 5. DATA FLOWS

CHAPTER 6. USE CASES

• EMERGENCY VEHICLE PREEMPTION
• HARDWARE-IN-THE-LOOP SIMULATION
• PEDESTRIAN SAFETY
• WORK ZONE

CHAPTER 7. CONCLUSION

APPENDIX A. CELLULAR VEHICLE-TO-EVERYTHING (C-V2X)

APPENDIX B. CAVE-IN-A-BOX WITH C-V2X RADIO AND CAVERS INTEGRATION

REFERENCES

List of Figures

Figure 1	Diagram. System diagram of the CAVe-in-a-box infrastructure kit.
Figure 2	Photo. A built CAVe-in-a-box infrastructure kit.
Figure 3	Photos. TSC used as a component of the CAVe-in-a-box infrastructure kit.
Figure 4	Photo. RSU used as a component of the CAVe-in-a-box infrastructure kit.
Figure 5	Photo. Embedded computer for V2X Hub software.
Figure 6	Diagram. V2X Hub operational design diagram.
Figure 7	Photo. Wired network switch.
Figure 8	Photo. Wi-Fi router with cellular network access.
Figure 9	Photo. Touchscreen tablet for GUI.
Figure 10	Diagram. System diagram of the CAVe-in-a-box mobile kit.
Figure 11	Photo. A built CAVe-in-a-box mobile kit showing different components.
Figure 12	Photos. OBU and the antenna (inset) for DSRC radio.
Figure 13	Photo. Power strip with multiple sockets.
Figure 14	Photo. TS 2 connector for signal heads.
Figure 15	Photo. PoE injector power for RSU.
Figure 16	Photo. Ethernet switch.
Figure 17	Photo. Power and data connector for the RSU.
Figure 18	Diagram. Infrastructure kit integrated connection diagram.
Figure 19	Diagram. Mobile kit type 1 integrated connection diagram.
Figure 20	Diagram. Mobile kit type 2 integrated connection diagram.
Figure 21	Diagram. Mobile kit type 3 integrated connection diagram.
Figure 22	Illustrations. TSC shelf.
Figure 23	Illustrations. Components in the shelf design (isometric views).
Figure 24	Illustrations. Completed SolidWorks design of a CAVe-in-a-box infrastructure kit.
Figure 25	Illustrations. Rear view of the completed CAVe-in-a-box infrastructure kit.
Figure 26	Illustration. Completed SolidWorks design of a CAVe-in-a-box mobile kit.
Figure 27	Illustrations. CAVe-in-a-box side profile.
Figure 28	Diagram. BSM data flow diagram.
Figure 29	Diagram. SPaT message data flow diagram.
Figure 30	Diagram. TIM data flow diagram.
Figure 31	Diagram. PSM data flow diagram.
Figure 32	Diagram. Infrastructure kit integrated connection diagram with C-V2X and CAVERS.
Figure 33	Diagram. CAVERS data flow diagram.

List of Tables

Table 1	Vendor list for CAVe-in-a-box
Table 2	Sample manifest file for Immediate Forward plugin
Table 3	Sample manifest file for MAP plugin
Table 4	Sample manifest file for SPaT plugin
Table 5	Sample manifest file for Message Receiver plugin
Table 6	Sample manifest file for Pedestrian plugin
Table 7	Sample manifest file for Preemption plugins
Table 8	Sample manifest file for TIM plugin

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