Cooperative Intersection Collision
Avoidance Systems (CICAS)

• This activity is needed in order to determine the alert timing parameters

• There is some ongoing work (e.g., the 100 car study)
• Need to determine what data is available for mining and what data needs to be collected
• Need for development of data collection systems and amplified naturalistic driving conditions through a set of intersections
• Need to evaluate and develop collection techniques (e.g., observational, infrastructure and vehicle sensing)

• Needed to measure the before baseline in order to measure the effect of adding countermeasures
• Absolutely critical to the driver interface (DVI, DII)

• This activity is needed in order to test out algorithms for models and operational systems

• There is some ongoing work (e.g., the 100 car study)
• Need to define what are we warning the drivers about
• Depends on characterizing normal and non-normal driver maneuvers at intersections in varied, real-world test conditions
• Need a better handle on "acceptable safe vs. unsafe" gaps
• Current algorithms need to be refined based on how driver is behaving/driver characteristics data

• Absolutely critical to the driver interface done by VTTI, General Dynamics

• This activity is needed in order to determine the alert timing parameters

• This will be different for different intersections, but will be less of an issue for simple scenarios
• Depends on current research results and may be a need to build on that existing research
• Some work being done by CAMP and will be public soon
• Determine gap selection
• Need a measure of drivers normal behavior

• Critical for determining LTAP countermeasures

• Needed to start optimizing the DII for a broad set of drivers

• Coordinate and build on current work including, MN & CA efforts in FY 05
• Use information from previous FOT
• DVI work being done by CAMP, VTTI, others
• Need to work on the issue regarding the vehicle not sending information to the infrastructure for it to make a decision

• This is part of the normal testing process, but may need to be expanded

• Important for determining algorithm timing
• Evaluation of FOT

• Dependent on application
• Current data collection efforts (e.g., the 100 car study)
• Long term data collection process needed
• Depends on #2

• All SCP crashes (unwillful) involve this
• This is part of the normal testing process, but may need to be expanded

• Need an operational system first
• Needs to be examined long term, > 5 year period
• This data will be provided by the FOT
• Methodology needed for FOT design
• The DII needs to be optimized
• Depends on current research results and mining of national databases

• Depends on #4 and #8
• Need an operational test system first because effectiveness cannot be measured until prototypes are selected
• Tests should be performed on a small number of the intersections pre-FOT
• This should only be done in conjunction with DVI

• Depends on #4 and #8
• Need an operational test system first because effectiveness cannot be measured until prototypes are selected
• Tests should be performed on a small number of the intersections pre-FOT
• This should only be done in conjunction with DVI
• Work should start now and will require iterations
• First test effectiveness in driving simulator then test in "live" intersection
• This activity is fundamental, but less time critical
• Depends on current research results

• Evaluations performed after FOT

• Establishing minimum performance requirements

• There is already good knowledge of this and existing research findings should be leveraged, as well as ongoing work
• Evaluate after the test vehicle is built
• This should only be done in conjunction with DVI

• This is an area where OEM's will differentiate

• Some work already underway, but more research needs to be done
• Not sure this is applicable to CICAS
• This is an OEM issue

• Depends on #4
• Need to continue current efforts and refine concepts
• Cannot refine until first message set defined
• Each application will require different message sets with overlap
• This is an OEM issue

• Signal timings

• Requires specifications on timings
• Need to provide this critical data NOW!

• Need to provide this critical data now to show operational value of CICAS
• Needed for prototype system

• Depends on #1
• Need to develop system architecture and requirements for both infrastructure and vehicle
• Define levels of accuracy absolute/lane level/relative
• VTTI has developed some specifications, need to begin providing this for SCP
• This requires a new detector system

• Critical to all aspects of CICAS related to timing issues

• Depends on #1
• VTTI has developed some specifications, need to begin providing this for SCP
• Important for infrastructure only models, because this is an infrastructure sensor issue
• Need requirements for measuring accuracy of all sensors and need concept of operations
• Vehicle position and kinematics dependent on naturalistic data, other data, prototypes, functional requirements
• Is iteration of alert algorithms what follows? Need to answer, "What sensors can get you what you need?"

• Critical to all aspects of CICAS related to timing issues
• Development of state map

• Need to understand budget for deployment
• Need to answer, "What role does DSRC play here?" Need to start discussions about DSRC Message Frequency, testing, etc.
• OK to assume DSRC is short-term
• Specify communication parameters, but not specific technology.
• SAE message committee final specification follows testing
• CICAS protocols should start now
• Need to standardize the message set

• Research needs to be done for detection
• Is this an ITS Tier 2 issue
• Need a long lead time and this is technically very challenging
• See UMN work
• Applies only to GAP acceptance

• Clearly they matter, but should CICAS be responsible?

• Let's see if it works first
• Given deployment schedule will be 802.11 xxx anyway
• Much of this work is being done in VII
• DSRC is NOT proven and this will be an issue
• Communication issue, VSC2 will do this
• Systems architecture and requirements needed
• Message set is main issue

• Interdependent with # 17
• DSRC and VII design issue
• Dependent on high DSRC penetration
• Being worked on, VII issue with ASME
• Need prototype DSRC radio first

• Depends on #4 and #15
• Need to get concepts refined for detailed design
• Message sets define further work

• Depends on #4 and #11
• Need to follow a Systems Engineering process
• This is not well defined and depends on concepts refinement then analysis of architecture and specifications

• Dependent on #15 and #16
• Operational systems must precede this event and must be done prior to determining the worthiness of the project
• For mixed vehicular/infrastructure this is key, but need to solve same detection problems
• Challenging problem..must work with sparse and dense data
• Vehicle data depends on DSRC deployment
• Functional allocation dependent on data from vehicle
• Cost effectiveness to put inside a vehicle is important

• Must start selecting intersections now in order to get baseline data for analysis in 05/06
• Can begin immediately especially benchmarking of available technologies for flexible implementation
• Some work is ongoing
• Needed for driver behavior analysis
• Depends on understanding behavior and having an architecture
• Dependent on delivery surrogate safety measures a system for collecting the SSM data
• This is needed to create state map and should be started now
• This depends on the sensor suite used
• Legacy system upgrades, vehicle data comm., control strategies

• This may provide a baseline investigation on what worked
• Key point is none appear promising, not sure that existing data can be mined to extract needed information, I don't think it will give any significant information
• This is a cheap and easy way to increase the value of the databases, biased towards intersection behaviors
• May help immediately with needs identification for draft functional requirements
• Need to identify data requirements and data collection methods
• Need the development of a more advanced infrastructure data collection system and to run a naturalistic driver study through a set of monitored intersections
• Look at 100 car study 43,000 hours, 100,000's of intersections (of all kinds) crossing accessible in short term

• Should occur after FOT
• Prototype subsystem needed now and available test bed
• Second phase issue: need to evaluate early test results
• Dependent on driver reaction to technology reliability
• Hard to classify "hit" or "miss" when no event occurs ???

• No way to accurately model without well designed FOT
• Cannot do until CICAS performance is quantified (otherwise just a guess)
• Need this before the FOT and add as baseline condition
• Measure CICAS benefits in comparison to unsignalized intersections

• Need for cost benefits analysis
• No way to model without well designed FOT
• Need this before the FOT

• Need available data, especially from car companies and OEM's, ROI, User Demand
• Cannot do until optimal set is deployed and costs determined

• Need this for FOT
• Evaluate prototype before we can start the adaptation issue

Driver Performance

• Assess impact of interaction between in-vehicle and out of window information (H, mid FY 05)
• Determine the importance of various driver/vehicle/environmental parameters on driver behavior.
• Need simulations of presentation of warning to drivers (effects of blocking)
• Simulation could be valuable, need behavioral models that include explanation vehicle for warnings or alerts, timing, traffic flows

Driver Interface

• Need integrated DII and DVI vision (H)
• Specify DII scope
• Need simultaneous DII and DVI and assessment of potential conflicts
• DVI/DII harmonization as a starting point (H, FY 05)
• Need to find answers to the following questions:
  • What happens when you have a DVI and a DII together? (M)
  • Which parameters are important?
  • When is a DVI more effective that a DII ..and vice versa? (H, should begin in FY 06)
  • Which applications should use a DVI vs. a DII? (H, FY 05)

Technology Development

• Develop vehicle classification and deceleration rate sensors for infrastructure (H, Early FY 05)
• Develop real world test bed (H, now)
• Intersection map design tools to build (H)
• Testing DSRC systems - compatibility (H, FY 05)
• Develop new control algorithms for traffic signal controller including: (H)
  1. if/then assessment of traffic conditions
  2. smart transit priority
• Develop new detector (tracking) - decide on requirements (H)
• Develop compatible state maps (H, FY 05)
• Develop FOT design methods for benefits? (H, FY 05)
• Investigate DSRC limitations for CICAS, including interference of RADAR and DSRC (H, FY 05)

Decision Rules

• Define how to operate CICAS in combination with adaptive signal controllers (H)
• Develop safety surrogates – for NGSIM stakeholder input on violations – surrogate measure

Field Operational Test

• Develop FOT concepts and goals - evaluation goals (H, FY 05)
• Identify problem intersections based on FARS (national scan) and State data (e.g., 80% of the problem = 20% of the intersections) (M)
• Need microscopic crash analysis (H FY 05)