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Preparing for CV Deployment read ahead 9-8-18

The document outlines the preparation and considerations for the deployment of connected vehicles (CV) and their associated technologies, emphasizing the transformative effects of wireless communication among vehicles, infrastructure, and mobile devices on highway safety and mobility. It details various connectivity types, safety applications, and necessary security measures, particularly focusing on the Security Credential Management System (SCMS) for trustworthy communications. Additionally, it discusses the importance of adhering to standards and cybersecurity measures to protect the transportation system's integrity.

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Preparing for CV Deployment 1. Connected Vehicles 2. Communications/Standards 3. Data & Security/SCMS 4. SPaT 5. PILOTS / Tampa Testing 6. Preparing for CV Deployment September 2018
CV Environment The fundamental premise of the connected vehicle environment lies in the power of wireless connectivity among vehicles (referred to as vehicle-to-vehicle or V2V communications), the infrastructure (vehicle-to-infrastructure or V2I communications), and mobile devices to bring about transformative changes in highway safety, mobility, and the environmental impacts of the transportation system. Over the past decade, wireless technologies and wireless data communications have fundamentally changed the way we live our lives. Instant access to information and the proliferation of "apps" through which we are able to perform almost limitless functions have dramatically recast the ways in which we work, play, and socialize. The transportation system has not been immune to these changes. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment  The core technology component of the connected vehicle environment is wireless communications.  The performance requirements of the application will play a major role in determining the type of communications technology utilized.  For safety-of-life applications it is important to have low latency, short range communications, such as DSRC or C-V2X.  For non-safety-of-life applications the latency requirements can be more relaxed, which could allow for other communications technologies such as traditional cellular, satellite, etc. 2
ConnectedVehicleReview REACHING A CONNECTED VEHICLE ENVIRONMENT • OEM/new car sales • After-market devices • Equipping agency fleets • Traveler handheld devices with apps for pedestrians, bikes, persons with disabilities • Build out through deployment of transportation projects - Traditional funding sources and processes - Demonstration or deployment grants • Collaborate with private sector and explore alternative funding sources and arrangements CV Operational Environment 3
Types of Connectivity Categories of Connectivity: • V2I (vehicle-to-infrastructure) • V2V (vehicle-to-vehicle) • V2P (vehicle-to-pedestrian) • V2N (vehicle-to-network) • V2C (vehicle-to-cloud) • V2X (vehicle-to-everything) • also • P2X (pedestrian connectivity) “V” can include POVs, Transit, Emergency Fleets, Other GOVs, Commercial Fleets, and “P” devices like smartphones Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 4
How Connected Vehicles Work 1 A wireless device in a car sends basic safety messages 10 times per second 2 Other nearby cars and roadside equipment receive the messages 3 Drivers get a warning of a potential crash Connected vehicles have the potential to reduce non-impaired crash scenarios by 80%* *Source: NHTSA Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 5
1) On-board Unit (OBU) processes basic safety messages 10 times per second. 2) Display panel displays audio and/or visual safety warnings and alerts to the driver. 4) Vehicle sensors supplement the data. 3) Radio and Antenna for communications and a GPS receiver to send and receive data with other vehicles and with roadside units (RSU). Inside Connected Vehicles Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 6
Connected Automation for the Greatest Benefit Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 7 Some aspect of a safety‐critical control function (e.g., steering, throttle, or braking) occurs without direct driver input. Self‐driving without connected input from the surroundings. V2X (vehicle-to-everything)
• The technology opportunities enabled by connected vehicles will grow over the next few years • Market penetration of L1/L2 active safety as well as driver assistance systems will increase penetration as costs drop • OEMs will start introducing highway L3 “autopilot” applications • L1/2 platooning capabilities (via wireless communications) for motor carriers and possibly for private light vehicles Source: SAE Moving Towards Connected Automation Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 8
Levels of Automation NHTSA adopted the Society of Automotive Engineers (SAE) International’s Levels of Automation Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 9
Available ITS Standards - Examples Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment One of the most complex systems today, and one that also involves a great deal of abstraction, is Open Systems Interconnection (OSI). OSI is an internationally standardized architecture that governs the interconnection of computers from the physical layer up to the user application layer. Objects at higher layers are defined abstractly and intended to be implemented with objects at lower layers. OSI is called an open system because it supports many different implementations of the services at each layer. OSI's method of specifying abstract objects is called ASN.1 (Abstract Syntax Notation One). ASN.1 is a flexible notation that allows one to define a variety data types, from simple types such as integers and bit strings to structured types such as sets and sequences, as well as complex types defined in terms of others. 10
Examples of Connectivity Interfaces 11  SAE J2945/2 - V2V safety awareness ISO 19091 - Intersection applications SAE J2945/0 - DSRC SEP Guidance  SAE J2945/3 - Weather related communication
Connected Vehicles Communications Exchanges such as the basic safety message (BSM), which includes a car’s direction, speed, brake status, size, and more. They also can exchange messages related to infrastructure and traffic management. i.e. Dedicated Short-Range Communications (DSRC) , Cellular Vehicle to Everything (C-V2X) Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 12
IEEE 802.11p is an approved amendment to the IEEE 802.11 standard to add wireless access in vehicular environments(WAVE), a vehicular communication system. It defines enhancements to 802.11 (the basis of products marketed as Wi-Fi) required to support Intelligent Transportation Systems (ITS) applications. This includes data exchange between high-speed vehicles and between the vehicles and the roadside infrastructure, so called V2X communication, in the licensed ITS band of 5.9 GHz (5.85-5.925 GHz). “DSRC” 3GPP is the standard body behind the Universal Mobile Telecommunications The 3rd Generation Partnership Project (3GPP) unites 7 telecommunications standard development organizations. The project covers cellular telecommunications network technologies, including radio access, the core transport network, and service capabilities. Release 15 - 1st half of 2017 the focus shifted to deliver the first set of 5G standards Release 16 will be "5G phase 2" and should be completed in December 2019 C-V2X PC5 Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 13
C-V2X is designed to work in ITS 5.9 GHz spectrum 3GPP is a very complex suite of technologies; a starting point: http://www.3gpp.org/specifications http://www.3gpp.org/DynaReport/status-report.htm#activeRel-14 https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=3063 14
» Direct communications (PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I Cellular-V2X defines Two complementary transmission modes 15
» Direct communications (PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I Uu (Network) • Communications between a vehicle and the network infrastructure, • Operating in Mobile Network Operator licensed spectrum delivering V2N services like: o Telematics and Automated Crash Notification (ACN services like what OnStar has offered for the last 20 years), o Connected Infotainment, Pandora, etc.. • Uu operates uplink to the network, downlink from the network. Cellular-V2X defines Two complementary transmission modes Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 16
» Direct communications (PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I PC5 (C-V2X) • Communications between vehicles, pedestrians, and roadside units, • Over the 5.9GHz ITS spectrum, • Without any requirement of the network or mobile operator, to deliver V2V, V2I, V2P, • Operates in what is called “sidelink” (aimed at enabling device-to-device (D2D) communications within legacy cellular-based LTE radio access networks) between 2 devices; as it doesn’t go to the network. Cellular-V2X defines Two complementary transmission modes 17
Information Transmitted • Random Vehicle ID, • Sequence #, • Time Stamp, • Position (latitude, longitude, elevation, accuracy), • Motion (speed, transmission state, heading angle, brake, accel /decel), • Control (yaw rate), & • Vehicle Size (length, width) Security Credentials 18 V2V: vehicles exchange BSMs with security credentials SAE J2735/J2945.1 Basic Safety Message: Vehicle-to-Vehicle Communications BSMs BSMs Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 18
VARIABLE Description Byte Count MSGCNT MsgCount within a stream 1 ID Temporary ID 4 SECMARK Dsecond (0-60999 ms) 2 LAT Latitude (-90 to +90 in 1/10 microdegree units) 4 LONG Longitude (-180 to +180 in 1/10 microdegree units) 4 ELEV Elevation (-409.5 to 6143.9 meters in 10cm increments) 2 ACCURACY Positional Accuracy (semi-minor and semi-major at 0.05m units) 4 SPEED TransmissionAndSpeed 2 Speed meters per second in 0.02 m/s units Transmission State (DE_TransmissionState) Neutral Park Forward Reverse Reserved (-3 states) Unavailable 0-12 bits 13-15 bits HEADING Heading (WSG-84 north reference at 0.0125 degree units) 2 ANGLE Steering Wheel Angle (-189 to +189 degrees in 1.5 degree units) 1 ACCELSET AccelerationSet4Way (long, lat, vert, yaw rate, per SAE-J670) 7 BRAKES BrakeSystemStatus 2 wheelBrakes wheelBrakesUnavailable spareBit traction control state antilock brake status stability control status brake boost applied auxiliary brake status 4 bits 1 bits 1 bits 2 bits 2 bits 2 bits 2 bits 2 bits SIZE VehicleSize – 1cm units 3 VehicleWidth VehicleLength (front to rear bumper) 10 bits 14 bits payload is the part of transmitted data that is the actual intended message. Headers and metadata are sent only to enable payload delivery Connected V2V safety applications are built around the SAE J2735 BSM, which has two parts BSM Part 1: • Contains the core data elements (vehicle size, position, speed, heading acceleration, brake system status) • transmitted approximately 10x per second BSM Part 2: • Added to part 1 depending upon events (e.g., ABS activated) • Contains a variable set of data elements drawn from many optional data elements (availability by vehicle model varies) • Transmitted less frequently Basic Safety Fundamentals 19
MAP Creation Walkthru https://webapp.connectedvcs.com/ Map Tool: • Provides a simple, web application UI to build MAP messages by drawing geometry on map tiles • Allows for configuration of data fields with descriptions, units, and min/max values • Able to generate actual binary output for broadcast at RSU 20
Connected vehicle applications are cooperative… • exchange of messages • generates data • alerts and warnings • of the driving situation Thus, a primary requirement for a connected vehicle system is trust. To achieve that trust, received messages must have: Integrity – The message was not modified between sender and receiver. Authenticity – The message originates from a trustworthy and legitimate source. Privacy – The message appropriately protects the privacy of the sender. The Secure Credential Management System provides the mechanism for devices to exchange information in a trustworthy and private manner using digital certificates. It also provides a critical element in achieving interoperability—so different vehicle makes and models will be able to talk to each other and exchange trusted data. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 21
The Security Credential Management System (SCMS) is a security solution for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. • Public Key Infrastructure (PKI)-based approach • Encryption and certificate management to facilitate trusted communication • Digital certificates to authenticate and validate the safety and mobility messages foundation for connected vehicle technologies • These certificates contain no identifying information • Plays a key function in protecting the content of each message by identifying and removing misbehavior devices, while still maintaining privacy. The Security Credential Management System (SCMS) Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 22
How Does the SCMS Work? The SCMS provides the security infrastructure to issue and manage the security certificates that form the basis of trust for V2V and V2I communication. Connected vehicle devices enroll into the SCMS, obtain security certificates from Certificate Authorities (CAs), and attach those certificates to their messages as part of a digital signature. The certificates prove the device is a trusted actor in the system, while also maintaining privacy. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 23
SCMS Certificate Types Issued To Name Purpose OBU / ASD Enrollment Initialize the OBU to allow communication with the SCMS OBU / ASD Pseudonym Used to sign all BSMs generated by an OBU OBU Authorization Used to identify public sector vehicles for specific apps RSU Enrollment Initialize the RSU to allow communication with SCMS RSU Application Used to sign application messages generated by RSU (TIM, SPaT, etc.) 24
V2X Public Key Infrastructure Overview Infrastructure Device ID --------------------- Public Key Validity Date --------------------- CA Signature 3. CA verifies requesting device is authorized and generates a certificate 1. Device generates private, public key-pair 2. Device authenticates itself, and sends its public key to CA 4. CA sends certificate back to device Vehicle Certificate Authority Other Vehicles & infrastructure Common entity in chain of trust Exchange Messages 25
Misbehavior Reporting • A key feature of the SCMS architecture is misbehavior detection and reporting. • Beyond authenticating and validating basic safety messages, system users need to be able to detect and block messages that have been compromised—whether intentionally or erroneously. • Since basic safety messages provide situational awareness for devices to issue safety warnings and alerts, accepting a false message with inaccurate data can be extremely dangerous. • The SCMS will implement a misbehavior authority that will collect misbehavior reports generated locally by devices in the environment. • Misbehavior reports provide the SCMS with information that can be used to determine whether a device is not performing at the appropriate level. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 26 UPDATE:
Achieving ITS Cybersecurity Vision “By 2028, resilient Intelligent Transportation Systems are designed, installed, operated, and maintained to survive a cyber incident while sustaining critical functions” Strategic Security Goals • Assess and Monitor Risk. • Adapt and Implement New Protective Measures to Reduce Risk • Manage Incidents. • Creating an Organizational Culture of Security. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 27
NIST Cybersecurity Framework (CSF) Outcome of Executive Order 13636 collaboration between public and private sectors… > Manages cybersecurity risks in a cost-effective way, while protecting privacy and civil liberties > References globally accepted standards (COBIT, ISO/IEC, ISA, NIST, CCS) > Intended for worldwide adoption – not US only > Use common terminology > Considers cybersecurity risks as part of organization’s overall risk management process Credit: N. Hanacek/NIST and ©bluebay/Shutterstock Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 28
NIST Cybersecurity Framework Components 29
3 Key Cybersecurity Transportation Projects 1. Cybersecurity of Traffic Management Systems  NCHRP  Southwest Research Institute 2. Establishing a Roadway Transportation System Cybersecurity Framework and Tools  FHWA and US DOT ITS Joint Program Office  ITE 3. Application of the NIST Cybersecurity Framework “Developing NIST CSF CV Profile”  US DOT ITS Joint Program Office  NIST/MITRE Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment NOCoE Cyber Security – report a threat at: https://transportationops.org/cyberfmwk 30
Ann Arbor Connected Vehicle Test Environment The Ann Arbor Connected Vehicle Test Environment was used as the initial test case for implementing the NIST Framework because it is the most extensive and mature environment available.  Largest existing deployment of connected vehicles and connected infrastructure  Expanding on Safety Pilot Model Deployment  Covers 27 square miles  Adding 1500 vehicles per year APPLYING NIST CSF TO A CV DEPLOYMENT 31
Securing Critical Infrastructure • Improve cybersecurity of 3 related but distinct parts of critical transportation infrastructure • All implement NIST Framework Process • All seek to develop tailored guidance • NCHRP & ITE projects considering organizing ongoing response and recovery operations Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 32
CV Pilot Deployment Program Goals Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 33
PreparingforCVDeployment CV PILOT DEPLOYMENT SCHEDULE The CV Pilot deployment schedule is not indicative of an actual deployment project schedule. System Planning Connected Vehicle Pilot Deployment Program Fact Sheet: https://www.its.dot.gov/factsheets/pdf/JPO_CVPilot.pdf Source: USDOT 34
PreparingforCVDeployment CV PILOT DEPLOYMENT SCHEDULE: PHASE 1 Phase 1: System Planning (COMPLETED -September 2015) • Creates the foundational plan to enable further design and deployment • Progress Gate: Is the concept ready for deployment? Phase 1: System Planning Concept Development System Requirements Comprehensive Deployment Plan Source: USDOT 35
PreparingforCVDeployment CV PILOT DEPLOYMENT SCHEDULE: PHASE 2 & 3 Phase 2: Design/Deploy/Test (CURRENT PHASE- began September 2016) • Detailed design and deployment followed by testing to ensure deployment functions as intended (both technically and institutionally) • Progress Gate: Does the system function as planned? Phase 3: Maintain/Operate • Focus is on assessing the performance of the deployed system • Post Pilot Operations (CV tech integrated into operational practice) Source: USDOT 36
PreparingforCVDeployment TECHNOLOGY READINESS LEVELS (TRL) As the CV Pilots progress, it’s important to periodically check their websites for new developments and lessons learned Research Development Demonstration Deployment Feedback FeedbackFeedback Innovation & Breakthrough TRL 0-3 Emerging Technologies TRL 4-6 System Integration TRL 7-8 Market Barriers TRL 9 TRL Level Description 0 Idea- Unproven concept, no testing has been performed 1 Basic Research- principles postulated and observed but no experimental proof available 2 Technology Formulation- Concept and application have been formulated 3 Applied Research - First laboratory tests completed; proof of concept 4 Small Scale Prototype - built in a laboratory environment 5 Large Scale Prototype - built in intended environment 6 Prototype System- Tested in intended environment and close to expected performance 7 Demonstration System- Operating in operational environment at pre-commercial scale 8 First Commercial System- Manufacturing and development issues solved 9 Full Commercial System- Technology available for consumers Source: USDOT SPaT applications TRL ~4-5 Traffic Signal installation TRL 9 CV Pilots are at TRL ~6-7 37
USDOT CV Pilots Link to Current News on Pilots Link to USDOT Presentation Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment CV Pilots Website: https://www.its.dot.gov/pilots/index.htm 38
NYC Pilot Overview The goal is to use the Connected Vehicle Pilot Program as a platform to help achieve Vision Zero goals. The NYC pilot will evaluate the safety benefits and challenges of implementing CV technology with a significant number of vehicles in the dense urban environment. Source: USDOT 39
Locations: Manhattan, Brooklyn Source: NYCDOT Vehicle to Vehicle (V2V) applications work wherever equipped vehicles encounter one another. Manhattan Vehicle to Infrastructure (V2I) applications work where infrastructure is installed (highlighted streets) The CV project leverages the City’s transportation investments 40
NYC CV Safety Applications Vehicle-to-Vehicle  Vehicle Turning Right in Front of Bus Warning  Forward Collision Warning  Emergency Electronic Brake Light  Blind Spot Warning  Lane Change Warning/Assist  Intersection Movement Assist Pedestrian Applications Pedestrian in Crosswalk PED-SIG Vehicle-to-Infrastructure  Red Light Violation Warning  Speed Compliance  Curve Speed Compliance  Speed Compliance/Work Zone  Oversize Vehicle Compliance o Prohibited Facilities (Parkways) o Over Height warning  Emergency Communications and Evacuation Information 41
NYC Pilot Site Overview Type Vendor Pre Prototype Samples (Multi vendor) Prototype - Quantity Production - Quantity ASD/OBU Vendor 1 45+9 RSUs 100 4200 ASD/OBU Vendor 2 68 100 4200 RSU Siemens 10 390 Pedestrian Detection System FLIR 10 intersection, 120 units Hardware Security Module (HSM) ISS / Greenhills Redundant Pair due to critical nature of function 2 NYC DOT has procured, or is in the process of procuring the following field equipment required to support the Connected Vehicle Program 42
NYC Acquisition Overview NYC DOT has procured, or is in the process of procuring the following field equipment required to support the Connected Vehicle Program Category Summary Approach Method Aftermarket Safety Device (ASD/OBU) Completed a vendor demonstration May 17-24, currently under review by NYC DOT. 6 vendors participated in the demo. Selection of 2 vendors. Intent announced, and prototypes acquired from 2 vendors Negotiated Contracts based on Demo Request for Expression of Interest and Proposal Roadside Units (RSU) Bid complete, Pre-bid held on June 12, proposals submitted June 21, Expect PO to be issued by NYCDOT this week Selection of 1 vendor. Acquiring 10 units to undergo a prototype phase Competitive Sealed Bid Mobile Device (PID) Acquisition Method being finalized Selection of 1 vendor. Acquiring 10 units to undergo a prototype phase Method being finalized TMC Equipment CV Data Storage Server, Mass Storage Device, and Network Equipment received and being installed Standard installation at the TMC utilizing IT standard methods Master Agreement RF Test Devices Expected to be received July 27, 2018 RF Test Equipment for tracking interference and testing units (ASD/RSU) Support Capital Assets - purchased through local suppliers Competitive Sealed Bid (CSB) ASN.1 Compiler Received May 31, 2017 A license has been acquired, to simplify TMC software development Micro Purchase - QPL Codeon Software Enables updated software to be download using small blocks broadcast to multiple vehicles by multiple RSUs – expedites software updates. License/unit – Paid by NYCDOT Used by ASD and RSU to support OTA Updates Method being finalized ISS / Greenhills Hardware Security Module (HSM) Received April, 2018 Used to sign the MAP message and TIM message and future RTCM if needed. Traffic Management Center V2X Message Authority Procured via negotiated agreement with contractor 43
NYC CV Pilot - Aftermarket Safety DeviceTwo terms > Aftermarket Safety Device (ASD) > On-Board Unit (OBU) Includes: receiver and antenna > GPS > Dedicated Short-Range Communications (DSRC) These devices: > Determine time & vehicle location from GPS signal > Broadcast the Basic Safety Message (BSM) – Here I am (location & speed) – Where I’ve been (last few seconds-path history) – Where I’m heading > Listen for other nearby Vehicle’s BSMs > Listen to Roadside Units (RSU) – traffic signal status & geometrics • CV applications process messages from remote vehicles to identify potential threats • CV applications process traffic signal status to identify possible intersection intrusion • Alert the driver of the threat using a combination of audible tones and speech Vendor 1: Danlaw V2X Aftermarket Safety Device Vendor 2: Savari MobiWave V2X Aftermarket Safety Device 44 UPDATE - NYCDOT Continues with Installation of Prototype Devices: As the New York City team awaits the bulk award of their procurement contract for the aftermarket safety devices (ASDs), they are continuing to install the 100 prototype devices previously procured. As of August 2, NYCDOT has 61 vehicles installed with ASDs (10 taxis, 2 Metro Transit Authority buses, 49 NYCDOT vehicles).
NYC Aftermarket Safety Device (Antennas) • Two types of antennas are being deployed. • Application depends on feasibility and any limitations on vehicle types/Makes/Models and any other aftermarket equipment currently installed Savari > Hircshmann single casing 2 DSRC, 1 GNSS antenna > Mobile Mark single casing 2 DSRC, 1 GNSS antenna Danlaw > Danlaw glass Stub Antenna 2 DSRC, 1 GNSS antenna Hirschmann Antenna MobileMark Antenna Danlaw through the glass Stub Antenna Global Navigation Satellite System (GNSS) 45
Wyoming’s I-80 Corridor Heavy Freight Traffic • Major E/W freight corridor • Freight = over half of annual traffic Severe Weather Conditions • Roadway elevation • Heavy winds, heavy snow and fog • Severe blowing snow and low visibility Adverse Impacts on Trucks • Higher than normal incident rates • Multi-vehicle crashes • Fatalities Source: WYDOT (Dec 17, 2015) 46
WYDOT CV Pilot V2V: > Forward Crash Warning V2I > Road and Travel Conditions > Parking > Work Zone Approach Warning > Spot Weather Impact Warning V2X > Distress notification  75 RSU on I-80  400 Fleet Vehicles  511 Traveler Info  Commercial Veh. Operator Portal 47
Wyoming Vehicle System Overview Vehicle OBU Vehicle Operator LTS WY CV System of Interest 1. Collect CV Information (BSMs) 2. Collect TIM 4. Provide In-Veh. Application Alerts 5. Broadcast Vehicle Data 6. Transmit Vehicle Data 7. Store Local Data 8. OBU Management SCMS 3. Manage and Process Information for Applications • Ability to share & receive information via DSRC from other connected devices (vehicles and RSUs). • Ability to broadcast Basic Safety Message. • Ability to receive Traveler Information Messages (TIM). • A human-machine interface that allows alerts and advisories to be communicated with the driver. 48
Integrated with WYDOT Fleets Integrated with WYDOT Fleets Environmental Probe Data Collection Leverage existing technology ~100 DSRC-enabled snow plows and highway patrol vehicles WYDOT’s use of its own fleets in the CV pilot will allow for continued operations post pilot. 49
Wyoming RSU Installs Install Locations next to existing infrastructure > WYDOT was able to install > 48 locations currently deployed (of 75) > https://wydotcvp.wyoroad.info/CVM/ (live RSU map) Locations with no infrastructure were contracted out to local construction contractors (30 units) 50 UPDATE - WYDOT Wrapping Up Phase 2: The Wyoming team continues to prepare for their final Acceptance Testing that will be witnessed by the USDOT from September 26 to 27. Final Phase 2 documentation, including their System Design Document and Outreach Plan are now available on the National Transportation Library (NTL). https://rosap.ntl.bts.gov/view/dot/36241 https://rosap.ntl.bts.gov/view/dot/36239
THEA CV Pilot V2V: > Turning in Front of Transit > Wrong Way Driver Approaching V2I > Stopped Traffic Warning > Curve Speed Warning > Peds in Crosswalk > Bus Priority > I-SIG Timing 51 UPDATE - As of August 20, the THEA pilot has more than 600 equipped private vehicles on the road. Additionally, 10 buses and 10 streetcars have been outfitted with the CV technology.
Tampa Pilot Testing video part 1 52
Tampa Pilot Testing video part 2 53
2) V2I: Speed Limit Advisory – 40 MPH 1) V2V: Emergency Electronic Brake Light (EEBL) – “Brake Ahead” 54
Back of Que warning 3) V2I: 30 MPH Speed Limit Advisory Road Side Unit 55
Road Side Unit 4) V2I: 20 MPH Speed Limit Advisory Back of Que warning 56
5) V2V: Forward Collision warning forward collision warning 57
Purpose and Goals • Develop V2V and V2I safety applications that address the most critical crash scenarios • Establish guidelines and standards for the components and systems required for the functional transfer of information for V2V and V2I • Develop and evaluate a systems environment that allows transfer of information, particularly signal phase and timing (SPaT) data, between vehicles and infrastructure • Provide tools and guidance based on objective benefits that will guide investment decisions by public agencies on deploying, operating, and maintaining a V2I system • Ensure appropriate strategies are implemented for privacy, security and system certification, interoperability, scalability, oversight, and public acceptance Connected Vehicle Safety Applications SPaT – V2I application Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 58
FDOT SPaT Pilot Project June 2018 update • 21 signalized intersections along US 90 (Mahan Drive) in Tallahassee • FDOT and City of Tallahassee Partnership • Pre-deployment testing at the Traffic Engineering Research Laboratory (TERL) • City installed equipment • Deployment completed 59 Source: FDOT Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 59
Roadside Unit (RSU) Communication Prior to installation and deployment: • Is there anything that needs to be installed (physically or software) to the existing infrastructure? • How will the controller communicate to the Roadside Unit (RSU)? • MAP file configuration – during testing phase > Both Google (or other map site) and onsite inspection need to be performed > Need controller phase/lane assignment or some indications will display incorrectly • Where will the MAP file reside? Source: FDOT FDOT SPaT Pilot Project – Lessons Learned 60
• controller firmware • SPaT/CV software/hardware Traffic Controller Source: FDOT Based on FDOTs experience with various DSRC and controller manufacturers, there are different ways to approach the communication between the controller and the RSU. Some controllers have an internal hardware add on and others use a separate firmware. Some CV manufacturers use an intermediary device as a translator. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment FDOT SPaT Pilot Project – Lessons Learned Compatibility? 61
Roadside Units (RSU) Designate and configure the unit before installation > Conduct a study to verify if two RSUs at one intersection is needed for line of sight Ensure antenna, cable entry, and any other access points to the device are secured and water tight Source: FDOT • Designate and configure the unit before installation • Note: MAC, IP, and other unique attributes before installation • Tallahassee location (based on RSU manufacturer) required two RSUs per intersection at multiple locations FDOT SPaT Pilot Project – Lessons Learned Tallahassee installing the roadside units and antennas 62
63 Source: FDOT RSU and Antenna Placement on Mast Arm/Spanwire The RSU and the antenna are attached to each other to minimize the radio signal attenuation. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment FDOT SPaT Pilot Project – Lessons Learned 63
Multi-Channel Test Tool (MCTT) • Used to verify signal strength and quality as well as display raw data being received from the RSUs • Can be a DSRC radio reserved specifically for use as and configured to detect RSU messages with laptop computer or other device • Designate and configure unit before installation • Note: MAC, IP, and other unique attributes before installation Source: FDOT FDOT SPaT Pilot Project – Lessons Learned Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 64
On-Board Unit (OBU) • Configuration varies > Some manufacturer OBUs do not require an external computer > Ensure the OBU can process and handle the flood of SPaT/MAP messages when multiple RSUs are within range of the OBU • Designate and configure unit before installation Source: FDOT The project demonstrated well initially during testing at the Traffic Engineering Research Laboratory (TERL), but had problems in the field related to: • bad MAP files and • processing SPaT/MAP data from up to 10 RSUs simultaneously FDOT SPaT Pilot Project – Lessons Learned 65
Source: FDOT Video showing the OBU counting down until the traffic signal displays the left turn arrow. FDOT SPaT Pilot Project – Lessons Learned Pre-Deployment Testing Video Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 66
FDOT SPaT Pilot Project – Lessons Learned from early V2I Deployments • Two stage FCC licensing: • 1st - blanket approval for use of DSRC • 2nd - Location (GPS detail, mounting height of devices, make and model of RSU’s and OBU’s) • Ensure devices are licensed by FCC for deployment • Ask questions during the procurement process regarding device compatibility with controllers • Ensure the MAPs are properly coded and is validated (suggest using USDOT tool for field testing); best that vendors develop the MAP data on their own • Consider expanding SPaT with other CV technologies including bike-ped safety, etc. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 67
U.S. Department of Transportation ITS Joint Program Office PreparingforCVDeployment STRUCTURED APPROACH TO CV DEPLOYMENT Progress Gate Phase 0 Phase 1: System Planning Phase 2: Design / Deploy / Test Concept Development Planning for CV Deployment System Requirements Comprehensive Deployment Plan Comprehensive Deployment Plan System Requirements Specification Application Development Participant Training & Stakeholder Education Partnership Coordination Outreach Planning ConOps Define Security Management Operating Concept Safety Management Performance Measurement and Evaluation Support Planning and Business Processes Systems & Technology Performance Measurement Organization/ Workforce & Culture Collaboration Deliverable Task/Activity 68Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 68
PreparingforCVDeployment WHY EMPHASIZE CONCEPT DEVELOPMENT AND SYSTEM PLANNING? • To mitigate technical, institutional, and financial risk • To design and deploy on schedule and within budget • To create long-term technical and financial sustainability Successful deployment begins with disciplined Concept Development and System Planning Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 69
PreparingforCVDeployment 70

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Preparing for CV Deployment read ahead 9-8-18

  • 1.
    Preparing for CVDeployment 1. Connected Vehicles 2. Communications/Standards 3. Data & Security/SCMS 4. SPaT 5. PILOTS / Tampa Testing 6. Preparing for CV Deployment September 2018
  • 2.
    CV Environment The fundamentalpremise of the connected vehicle environment lies in the power of wireless connectivity among vehicles (referred to as vehicle-to-vehicle or V2V communications), the infrastructure (vehicle-to-infrastructure or V2I communications), and mobile devices to bring about transformative changes in highway safety, mobility, and the environmental impacts of the transportation system. Over the past decade, wireless technologies and wireless data communications have fundamentally changed the way we live our lives. Instant access to information and the proliferation of "apps" through which we are able to perform almost limitless functions have dramatically recast the ways in which we work, play, and socialize. The transportation system has not been immune to these changes. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment  The core technology component of the connected vehicle environment is wireless communications.  The performance requirements of the application will play a major role in determining the type of communications technology utilized.  For safety-of-life applications it is important to have low latency, short range communications, such as DSRC or C-V2X.  For non-safety-of-life applications the latency requirements can be more relaxed, which could allow for other communications technologies such as traditional cellular, satellite, etc. 2
  • 3.
    ConnectedVehicleReview REACHING A CONNECTEDVEHICLE ENVIRONMENT • OEM/new car sales • After-market devices • Equipping agency fleets • Traveler handheld devices with apps for pedestrians, bikes, persons with disabilities • Build out through deployment of transportation projects - Traditional funding sources and processes - Demonstration or deployment grants • Collaborate with private sector and explore alternative funding sources and arrangements CV Operational Environment 3
  • 4.
    Types of Connectivity Categoriesof Connectivity: • V2I (vehicle-to-infrastructure) • V2V (vehicle-to-vehicle) • V2P (vehicle-to-pedestrian) • V2N (vehicle-to-network) • V2C (vehicle-to-cloud) • V2X (vehicle-to-everything) • also • P2X (pedestrian connectivity) “V” can include POVs, Transit, Emergency Fleets, Other GOVs, Commercial Fleets, and “P” devices like smartphones Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 4
  • 5.
    How Connected Vehicles Work 1A wireless device in a car sends basic safety messages 10 times per second 2 Other nearby cars and roadside equipment receive the messages 3 Drivers get a warning of a potential crash Connected vehicles have the potential to reduce non-impaired crash scenarios by 80%* *Source: NHTSA Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 5
  • 6.
    1) On-board Unit (OBU)processes basic safety messages 10 times per second. 2) Display panel displays audio and/or visual safety warnings and alerts to the driver. 4) Vehicle sensors supplement the data. 3) Radio and Antenna for communications and a GPS receiver to send and receive data with other vehicles and with roadside units (RSU). Inside Connected Vehicles Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 6
  • 7.
    Connected Automation forthe Greatest Benefit Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 7 Some aspect of a safety‐critical control function (e.g., steering, throttle, or braking) occurs without direct driver input. Self‐driving without connected input from the surroundings. V2X (vehicle-to-everything)
  • 8.
    • The technologyopportunities enabled by connected vehicles will grow over the next few years • Market penetration of L1/L2 active safety as well as driver assistance systems will increase penetration as costs drop • OEMs will start introducing highway L3 “autopilot” applications • L1/2 platooning capabilities (via wireless communications) for motor carriers and possibly for private light vehicles Source: SAE Moving Towards Connected Automation Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 8
  • 9.
    Levels of Automation NHTSAadopted the Society of Automotive Engineers (SAE) International’s Levels of Automation Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 9
  • 10.
    Available ITS Standards- Examples Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment One of the most complex systems today, and one that also involves a great deal of abstraction, is Open Systems Interconnection (OSI). OSI is an internationally standardized architecture that governs the interconnection of computers from the physical layer up to the user application layer. Objects at higher layers are defined abstractly and intended to be implemented with objects at lower layers. OSI is called an open system because it supports many different implementations of the services at each layer. OSI's method of specifying abstract objects is called ASN.1 (Abstract Syntax Notation One). ASN.1 is a flexible notation that allows one to define a variety data types, from simple types such as integers and bit strings to structured types such as sets and sequences, as well as complex types defined in terms of others. 10
  • 11.
    Examples of ConnectivityInterfaces 11  SAE J2945/2 - V2V safety awareness ISO 19091 - Intersection applications SAE J2945/0 - DSRC SEP Guidance  SAE J2945/3 - Weather related communication
  • 12.
    Connected Vehicles Communications Exchanges suchas the basic safety message (BSM), which includes a car’s direction, speed, brake status, size, and more. They also can exchange messages related to infrastructure and traffic management. i.e. Dedicated Short-Range Communications (DSRC) , Cellular Vehicle to Everything (C-V2X) Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 12
  • 13.
    IEEE 802.11p isan approved amendment to the IEEE 802.11 standard to add wireless access in vehicular environments(WAVE), a vehicular communication system. It defines enhancements to 802.11 (the basis of products marketed as Wi-Fi) required to support Intelligent Transportation Systems (ITS) applications. This includes data exchange between high-speed vehicles and between the vehicles and the roadside infrastructure, so called V2X communication, in the licensed ITS band of 5.9 GHz (5.85-5.925 GHz). “DSRC” 3GPP is the standard body behind the Universal Mobile Telecommunications The 3rd Generation Partnership Project (3GPP) unites 7 telecommunications standard development organizations. The project covers cellular telecommunications network technologies, including radio access, the core transport network, and service capabilities. Release 15 - 1st half of 2017 the focus shifted to deliver the first set of 5G standards Release 16 will be "5G phase 2" and should be completed in December 2019 C-V2X PC5 Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 13
  • 14.
    C-V2X is designedto work in ITS 5.9 GHz spectrum 3GPP is a very complex suite of technologies; a starting point: http://www.3gpp.org/specifications http://www.3gpp.org/DynaReport/status-report.htm#activeRel-14 https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=3063 14
  • 15.
    » Direct communications(PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I Cellular-V2X defines Two complementary transmission modes 15
  • 16.
    » Direct communications(PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I Uu (Network) • Communications between a vehicle and the network infrastructure, • Operating in Mobile Network Operator licensed spectrum delivering V2N services like: o Telematics and Automated Crash Notification (ACN services like what OnStar has offered for the last 20 years), o Connected Infotainment, Pandora, etc.. • Uu operates uplink to the network, downlink from the network. Cellular-V2X defines Two complementary transmission modes Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 16
  • 17.
    » Direct communications(PC5) • V2V, V2I, and V2P operating in harmonized 5.9 GHz ITS bands independent of cellular network or cellular subscription » Network communications (Uu) • V2N operating in traditional mobile broadband licensed spectrum Active safety in shorter range Latency-sensitive use cases, e.g. collision avoidance Informational safety over longer ranges More latency tolerant use cases, e.g. accident 2 kilometers ahead V2N V2N V2V V2P V2I PC5 (C-V2X) • Communications between vehicles, pedestrians, and roadside units, • Over the 5.9GHz ITS spectrum, • Without any requirement of the network or mobile operator, to deliver V2V, V2I, V2P, • Operates in what is called “sidelink” (aimed at enabling device-to-device (D2D) communications within legacy cellular-based LTE radio access networks) between 2 devices; as it doesn’t go to the network. Cellular-V2X defines Two complementary transmission modes 17
  • 18.
    Information Transmitted • RandomVehicle ID, • Sequence #, • Time Stamp, • Position (latitude, longitude, elevation, accuracy), • Motion (speed, transmission state, heading angle, brake, accel /decel), • Control (yaw rate), & • Vehicle Size (length, width) Security Credentials 18 V2V: vehicles exchange BSMs with security credentials SAE J2735/J2945.1 Basic Safety Message: Vehicle-to-Vehicle Communications BSMs BSMs Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 18
  • 19.
    VARIABLE Description ByteCount MSGCNT MsgCount within a stream 1 ID Temporary ID 4 SECMARK Dsecond (0-60999 ms) 2 LAT Latitude (-90 to +90 in 1/10 microdegree units) 4 LONG Longitude (-180 to +180 in 1/10 microdegree units) 4 ELEV Elevation (-409.5 to 6143.9 meters in 10cm increments) 2 ACCURACY Positional Accuracy (semi-minor and semi-major at 0.05m units) 4 SPEED TransmissionAndSpeed 2 Speed meters per second in 0.02 m/s units Transmission State (DE_TransmissionState) Neutral Park Forward Reverse Reserved (-3 states) Unavailable 0-12 bits 13-15 bits HEADING Heading (WSG-84 north reference at 0.0125 degree units) 2 ANGLE Steering Wheel Angle (-189 to +189 degrees in 1.5 degree units) 1 ACCELSET AccelerationSet4Way (long, lat, vert, yaw rate, per SAE-J670) 7 BRAKES BrakeSystemStatus 2 wheelBrakes wheelBrakesUnavailable spareBit traction control state antilock brake status stability control status brake boost applied auxiliary brake status 4 bits 1 bits 1 bits 2 bits 2 bits 2 bits 2 bits 2 bits SIZE VehicleSize – 1cm units 3 VehicleWidth VehicleLength (front to rear bumper) 10 bits 14 bits payload is the part of transmitted data that is the actual intended message. Headers and metadata are sent only to enable payload delivery Connected V2V safety applications are built around the SAE J2735 BSM, which has two parts BSM Part 1: • Contains the core data elements (vehicle size, position, speed, heading acceleration, brake system status) • transmitted approximately 10x per second BSM Part 2: • Added to part 1 depending upon events (e.g., ABS activated) • Contains a variable set of data elements drawn from many optional data elements (availability by vehicle model varies) • Transmitted less frequently Basic Safety Fundamentals 19
  • 20.
    MAP Creation Walkthru https://webapp.connectedvcs.com/ MapTool: • Provides a simple, web application UI to build MAP messages by drawing geometry on map tiles • Allows for configuration of data fields with descriptions, units, and min/max values • Able to generate actual binary output for broadcast at RSU 20
  • 21.
    Connected vehicle applicationsare cooperative… • exchange of messages • generates data • alerts and warnings • of the driving situation Thus, a primary requirement for a connected vehicle system is trust. To achieve that trust, received messages must have: Integrity – The message was not modified between sender and receiver. Authenticity – The message originates from a trustworthy and legitimate source. Privacy – The message appropriately protects the privacy of the sender. The Secure Credential Management System provides the mechanism for devices to exchange information in a trustworthy and private manner using digital certificates. It also provides a critical element in achieving interoperability—so different vehicle makes and models will be able to talk to each other and exchange trusted data. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 21
  • 22.
    The Security CredentialManagement System (SCMS) is a security solution for vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication. • Public Key Infrastructure (PKI)-based approach • Encryption and certificate management to facilitate trusted communication • Digital certificates to authenticate and validate the safety and mobility messages foundation for connected vehicle technologies • These certificates contain no identifying information • Plays a key function in protecting the content of each message by identifying and removing misbehavior devices, while still maintaining privacy. The Security Credential Management System (SCMS) Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 22
  • 23.
    How Does theSCMS Work? The SCMS provides the security infrastructure to issue and manage the security certificates that form the basis of trust for V2V and V2I communication. Connected vehicle devices enroll into the SCMS, obtain security certificates from Certificate Authorities (CAs), and attach those certificates to their messages as part of a digital signature. The certificates prove the device is a trusted actor in the system, while also maintaining privacy. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 23
  • 24.
    SCMS Certificate Types IssuedTo Name Purpose OBU / ASD Enrollment Initialize the OBU to allow communication with the SCMS OBU / ASD Pseudonym Used to sign all BSMs generated by an OBU OBU Authorization Used to identify public sector vehicles for specific apps RSU Enrollment Initialize the RSU to allow communication with SCMS RSU Application Used to sign application messages generated by RSU (TIM, SPaT, etc.) 24
  • 25.
    V2X Public KeyInfrastructure Overview Infrastructure Device ID --------------------- Public Key Validity Date --------------------- CA Signature 3. CA verifies requesting device is authorized and generates a certificate 1. Device generates private, public key-pair 2. Device authenticates itself, and sends its public key to CA 4. CA sends certificate back to device Vehicle Certificate Authority Other Vehicles & infrastructure Common entity in chain of trust Exchange Messages 25
  • 26.
    Misbehavior Reporting • Akey feature of the SCMS architecture is misbehavior detection and reporting. • Beyond authenticating and validating basic safety messages, system users need to be able to detect and block messages that have been compromised—whether intentionally or erroneously. • Since basic safety messages provide situational awareness for devices to issue safety warnings and alerts, accepting a false message with inaccurate data can be extremely dangerous. • The SCMS will implement a misbehavior authority that will collect misbehavior reports generated locally by devices in the environment. • Misbehavior reports provide the SCMS with information that can be used to determine whether a device is not performing at the appropriate level. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 26 UPDATE:
  • 27.
    Achieving ITS Cybersecurity Vision “By2028, resilient Intelligent Transportation Systems are designed, installed, operated, and maintained to survive a cyber incident while sustaining critical functions” Strategic Security Goals • Assess and Monitor Risk. • Adapt and Implement New Protective Measures to Reduce Risk • Manage Incidents. • Creating an Organizational Culture of Security. Connected Vehicles Communications/Standards Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 27
  • 28.
    NIST Cybersecurity Framework(CSF) Outcome of Executive Order 13636 collaboration between public and private sectors… > Manages cybersecurity risks in a cost-effective way, while protecting privacy and civil liberties > References globally accepted standards (COBIT, ISO/IEC, ISA, NIST, CCS) > Intended for worldwide adoption – not US only > Use common terminology > Considers cybersecurity risks as part of organization’s overall risk management process Credit: N. Hanacek/NIST and ©bluebay/Shutterstock Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 28
  • 29.
  • 30.
    3 Key CybersecurityTransportation Projects 1. Cybersecurity of Traffic Management Systems  NCHRP  Southwest Research Institute 2. Establishing a Roadway Transportation System Cybersecurity Framework and Tools  FHWA and US DOT ITS Joint Program Office  ITE 3. Application of the NIST Cybersecurity Framework “Developing NIST CSF CV Profile”  US DOT ITS Joint Program Office  NIST/MITRE Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment NOCoE Cyber Security – report a threat at: https://transportationops.org/cyberfmwk 30
  • 31.
    Ann Arbor ConnectedVehicle Test Environment The Ann Arbor Connected Vehicle Test Environment was used as the initial test case for implementing the NIST Framework because it is the most extensive and mature environment available.  Largest existing deployment of connected vehicles and connected infrastructure  Expanding on Safety Pilot Model Deployment  Covers 27 square miles  Adding 1500 vehicles per year APPLYING NIST CSF TO A CV DEPLOYMENT 31
  • 32.
    Securing Critical Infrastructure •Improve cybersecurity of 3 related but distinct parts of critical transportation infrastructure • All implement NIST Framework Process • All seek to develop tailored guidance • NCHRP & ITE projects considering organizing ongoing response and recovery operations Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 32
  • 33.
    CV Pilot DeploymentProgram Goals Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment 33
  • 34.
    PreparingforCVDeployment CV PILOT DEPLOYMENTSCHEDULE The CV Pilot deployment schedule is not indicative of an actual deployment project schedule. System Planning Connected Vehicle Pilot Deployment Program Fact Sheet: https://www.its.dot.gov/factsheets/pdf/JPO_CVPilot.pdf Source: USDOT 34
  • 35.
    PreparingforCVDeployment CV PILOT DEPLOYMENTSCHEDULE: PHASE 1 Phase 1: System Planning (COMPLETED -September 2015) • Creates the foundational plan to enable further design and deployment • Progress Gate: Is the concept ready for deployment? Phase 1: System Planning Concept Development System Requirements Comprehensive Deployment Plan Source: USDOT 35
  • 36.
    PreparingforCVDeployment CV PILOT DEPLOYMENTSCHEDULE: PHASE 2 & 3 Phase 2: Design/Deploy/Test (CURRENT PHASE- began September 2016) • Detailed design and deployment followed by testing to ensure deployment functions as intended (both technically and institutionally) • Progress Gate: Does the system function as planned? Phase 3: Maintain/Operate • Focus is on assessing the performance of the deployed system • Post Pilot Operations (CV tech integrated into operational practice) Source: USDOT 36
  • 37.
    PreparingforCVDeployment TECHNOLOGY READINESS LEVELS(TRL) As the CV Pilots progress, it’s important to periodically check their websites for new developments and lessons learned Research Development Demonstration Deployment Feedback FeedbackFeedback Innovation & Breakthrough TRL 0-3 Emerging Technologies TRL 4-6 System Integration TRL 7-8 Market Barriers TRL 9 TRL Level Description 0 Idea- Unproven concept, no testing has been performed 1 Basic Research- principles postulated and observed but no experimental proof available 2 Technology Formulation- Concept and application have been formulated 3 Applied Research - First laboratory tests completed; proof of concept 4 Small Scale Prototype - built in a laboratory environment 5 Large Scale Prototype - built in intended environment 6 Prototype System- Tested in intended environment and close to expected performance 7 Demonstration System- Operating in operational environment at pre-commercial scale 8 First Commercial System- Manufacturing and development issues solved 9 Full Commercial System- Technology available for consumers Source: USDOT SPaT applications TRL ~4-5 Traffic Signal installation TRL 9 CV Pilots are at TRL ~6-7 37
  • 38.
    USDOT CV Pilots Linkto Current News on Pilots Link to USDOT Presentation Connected Vehicles Communications Data & Security/SCMS Pilots SPaT Preparing for CV Deployment CV Pilots Website: https://www.its.dot.gov/pilots/index.htm 38
  • 39.
    NYC Pilot Overview Thegoal is to use the Connected Vehicle Pilot Program as a platform to help achieve Vision Zero goals. The NYC pilot will evaluate the safety benefits and challenges of implementing CV technology with a significant number of vehicles in the dense urban environment. Source: USDOT 39
  • 40.
    Locations: Manhattan, Brooklyn Source:NYCDOT Vehicle to Vehicle (V2V) applications work wherever equipped vehicles encounter one another. Manhattan Vehicle to Infrastructure (V2I) applications work where infrastructure is installed (highlighted streets) The CV project leverages the City’s transportation investments 40
  • 41.
    NYC CV Safety Applications Vehicle-to-Vehicle Vehicle Turning Right in Front of Bus Warning  Forward Collision Warning  Emergency Electronic Brake Light  Blind Spot Warning  Lane Change Warning/Assist  Intersection Movement Assist Pedestrian Applications Pedestrian in Crosswalk PED-SIG Vehicle-to-Infrastructure  Red Light Violation Warning  Speed Compliance  Curve Speed Compliance  Speed Compliance/Work Zone  Oversize Vehicle Compliance o Prohibited Facilities (Parkways) o Over Height warning  Emergency Communications and Evacuation Information 41
  • 42.
    NYC Pilot SiteOverview Type Vendor Pre Prototype Samples (Multi vendor) Prototype - Quantity Production - Quantity ASD/OBU Vendor 1 45+9 RSUs 100 4200 ASD/OBU Vendor 2 68 100 4200 RSU Siemens 10 390 Pedestrian Detection System FLIR 10 intersection, 120 units Hardware Security Module (HSM) ISS / Greenhills Redundant Pair due to critical nature of function 2 NYC DOT has procured, or is in the process of procuring the following field equipment required to support the Connected Vehicle Program 42
  • 43.
    NYC Acquisition Overview NYCDOT has procured, or is in the process of procuring the following field equipment required to support the Connected Vehicle Program Category Summary Approach Method Aftermarket Safety Device (ASD/OBU) Completed a vendor demonstration May 17-24, currently under review by NYC DOT. 6 vendors participated in the demo. Selection of 2 vendors. Intent announced, and prototypes acquired from 2 vendors Negotiated Contracts based on Demo Request for Expression of Interest and Proposal Roadside Units (RSU) Bid complete, Pre-bid held on June 12, proposals submitted June 21, Expect PO to be issued by NYCDOT this week Selection of 1 vendor. Acquiring 10 units to undergo a prototype phase Competitive Sealed Bid Mobile Device (PID) Acquisition Method being finalized Selection of 1 vendor. Acquiring 10 units to undergo a prototype phase Method being finalized TMC Equipment CV Data Storage Server, Mass Storage Device, and Network Equipment received and being installed Standard installation at the TMC utilizing IT standard methods Master Agreement RF Test Devices Expected to be received July 27, 2018 RF Test Equipment for tracking interference and testing units (ASD/RSU) Support Capital Assets - purchased through local suppliers Competitive Sealed Bid (CSB) ASN.1 Compiler Received May 31, 2017 A license has been acquired, to simplify TMC software development Micro Purchase - QPL Codeon Software Enables updated software to be download using small blocks broadcast to multiple vehicles by multiple RSUs – expedites software updates. License/unit – Paid by NYCDOT Used by ASD and RSU to support OTA Updates Method being finalized ISS / Greenhills Hardware Security Module (HSM) Received April, 2018 Used to sign the MAP message and TIM message and future RTCM if needed. Traffic Management Center V2X Message Authority Procured via negotiated agreement with contractor 43
  • 44.
    NYC CV Pilot- Aftermarket Safety DeviceTwo terms > Aftermarket Safety Device (ASD) > On-Board Unit (OBU) Includes: receiver and antenna > GPS > Dedicated Short-Range Communications (DSRC) These devices: > Determine time & vehicle location from GPS signal > Broadcast the Basic Safety Message (BSM) – Here I am (location & speed) – Where I’ve been (last few seconds-path history) – Where I’m heading > Listen for other nearby Vehicle’s BSMs > Listen to Roadside Units (RSU) – traffic signal status & geometrics • CV applications process messages from remote vehicles to identify potential threats • CV applications process traffic signal status to identify possible intersection intrusion • Alert the driver of the threat using a combination of audible tones and speech Vendor 1: Danlaw V2X Aftermarket Safety Device Vendor 2: Savari MobiWave V2X Aftermarket Safety Device 44 UPDATE - NYCDOT Continues with Installation of Prototype Devices: As the New York City team awaits the bulk award of their procurement contract for the aftermarket safety devices (ASDs), they are continuing to install the 100 prototype devices previously procured. As of August 2, NYCDOT has 61 vehicles installed with ASDs (10 taxis, 2 Metro Transit Authority buses, 49 NYCDOT vehicles).
  • 45.
    NYC Aftermarket SafetyDevice (Antennas) • Two types of antennas are being deployed. • Application depends on feasibility and any limitations on vehicle types/Makes/Models and any other aftermarket equipment currently installed Savari > Hircshmann single casing 2 DSRC, 1 GNSS antenna > Mobile Mark single casing 2 DSRC, 1 GNSS antenna Danlaw > Danlaw glass Stub Antenna 2 DSRC, 1 GNSS antenna Hirschmann Antenna MobileMark Antenna Danlaw through the glass Stub Antenna Global Navigation Satellite System (GNSS) 45
  • 46.
    Wyoming’s I-80 Corridor Heavy Freight Traffic •Major E/W freight corridor • Freight = over half of annual traffic Severe Weather Conditions • Roadway elevation • Heavy winds, heavy snow and fog • Severe blowing snow and low visibility Adverse Impacts on Trucks • Higher than normal incident rates • Multi-vehicle crashes • Fatalities Source: WYDOT (Dec 17, 2015) 46
  • 47.
    WYDOT CV Pilot V2V: >Forward Crash Warning V2I > Road and Travel Conditions > Parking > Work Zone Approach Warning > Spot Weather Impact Warning V2X > Distress notification  75 RSU on I-80  400 Fleet Vehicles  511 Traveler Info  Commercial Veh. Operator Portal 47
  • 48.
    Wyoming Vehicle SystemOverview Vehicle OBU Vehicle Operator LTS WY CV System of Interest 1. Collect CV Information (BSMs) 2. Collect TIM 4. Provide In-Veh. Application Alerts 5. Broadcast Vehicle Data 6. Transmit Vehicle Data 7. Store Local Data 8. OBU Management SCMS 3. Manage and Process Information for Applications • Ability to share & receive information via DSRC from other connected devices (vehicles and RSUs). • Ability to broadcast Basic Safety Message. • Ability to receive Traveler Information Messages (TIM). • A human-machine interface that allows alerts and advisories to be communicated with the driver. 48
  • 49.
    Integrated with WYDOTFleets Integrated with WYDOT Fleets Environmental Probe Data Collection Leverage existing technology ~100 DSRC-enabled snow plows and highway patrol vehicles WYDOT’s use of its own fleets in the CV pilot will allow for continued operations post pilot. 49
  • 50.
    Wyoming RSU Installs InstallLocations next to existing infrastructure > WYDOT was able to install > 48 locations currently deployed (of 75) > https://wydotcvp.wyoroad.info/CVM/ (live RSU map) Locations with no infrastructure were contracted out to local construction contractors (30 units) 50 UPDATE - WYDOT Wrapping Up Phase 2: The Wyoming team continues to prepare for their final Acceptance Testing that will be witnessed by the USDOT from September 26 to 27. Final Phase 2 documentation, including their System Design Document and Outreach Plan are now available on the National Transportation Library (NTL). https://rosap.ntl.bts.gov/view/dot/36241 https://rosap.ntl.bts.gov/view/dot/36239
  • 51.
    THEA CV Pilot V2V: >Turning in Front of Transit > Wrong Way Driver Approaching V2I > Stopped Traffic Warning > Curve Speed Warning > Peds in Crosswalk > Bus Priority > I-SIG Timing 51 UPDATE - As of August 20, the THEA pilot has more than 600 equipped private vehicles on the road. Additionally, 10 buses and 10 streetcars have been outfitted with the CV technology.
  • 52.
    Tampa Pilot Testingvideo part 1 52
  • 53.
    Tampa Pilot Testingvideo part 2 53
  • 54.
    2) V2I: SpeedLimit Advisory – 40 MPH 1) V2V: Emergency Electronic Brake Light (EEBL) – “Brake Ahead” 54
  • 55.
    Back of Que warning 3)V2I: 30 MPH Speed Limit Advisory Road Side Unit 55
  • 56.
    Road Side Unit 4) V2I:20 MPH Speed Limit Advisory Back of Que warning 56
  • 57.
  • 58.
    Purpose and Goals •Develop V2V and V2I safety applications that address the most critical crash scenarios • Establish guidelines and standards for the components and systems required for the functional transfer of information for V2V and V2I • Develop and evaluate a systems environment that allows transfer of information, particularly signal phase and timing (SPaT) data, between vehicles and infrastructure • Provide tools and guidance based on objective benefits that will guide investment decisions by public agencies on deploying, operating, and maintaining a V2I system • Ensure appropriate strategies are implemented for privacy, security and system certification, interoperability, scalability, oversight, and public acceptance Connected Vehicle Safety Applications SPaT – V2I application Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 58
  • 59.
    FDOT SPaT PilotProject June 2018 update • 21 signalized intersections along US 90 (Mahan Drive) in Tallahassee • FDOT and City of Tallahassee Partnership • Pre-deployment testing at the Traffic Engineering Research Laboratory (TERL) • City installed equipment • Deployment completed 59 Source: FDOT Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 59
  • 60.
    Roadside Unit (RSU)Communication Prior to installation and deployment: • Is there anything that needs to be installed (physically or software) to the existing infrastructure? • How will the controller communicate to the Roadside Unit (RSU)? • MAP file configuration – during testing phase > Both Google (or other map site) and onsite inspection need to be performed > Need controller phase/lane assignment or some indications will display incorrectly • Where will the MAP file reside? Source: FDOT FDOT SPaT Pilot Project – Lessons Learned 60
  • 61.
    • controller firmware •SPaT/CV software/hardware Traffic Controller Source: FDOT Based on FDOTs experience with various DSRC and controller manufacturers, there are different ways to approach the communication between the controller and the RSU. Some controllers have an internal hardware add on and others use a separate firmware. Some CV manufacturers use an intermediary device as a translator. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment FDOT SPaT Pilot Project – Lessons Learned Compatibility? 61
  • 62.
    Roadside Units (RSU) Designateand configure the unit before installation > Conduct a study to verify if two RSUs at one intersection is needed for line of sight Ensure antenna, cable entry, and any other access points to the device are secured and water tight Source: FDOT • Designate and configure the unit before installation • Note: MAC, IP, and other unique attributes before installation • Tallahassee location (based on RSU manufacturer) required two RSUs per intersection at multiple locations FDOT SPaT Pilot Project – Lessons Learned Tallahassee installing the roadside units and antennas 62
  • 63.
    63 Source: FDOT RSU andAntenna Placement on Mast Arm/Spanwire The RSU and the antenna are attached to each other to minimize the radio signal attenuation. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment FDOT SPaT Pilot Project – Lessons Learned 63
  • 64.
    Multi-Channel Test Tool(MCTT) • Used to verify signal strength and quality as well as display raw data being received from the RSUs • Can be a DSRC radio reserved specifically for use as and configured to detect RSU messages with laptop computer or other device • Designate and configure unit before installation • Note: MAC, IP, and other unique attributes before installation Source: FDOT FDOT SPaT Pilot Project – Lessons Learned Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 64
  • 65.
    On-Board Unit (OBU) •Configuration varies > Some manufacturer OBUs do not require an external computer > Ensure the OBU can process and handle the flood of SPaT/MAP messages when multiple RSUs are within range of the OBU • Designate and configure unit before installation Source: FDOT The project demonstrated well initially during testing at the Traffic Engineering Research Laboratory (TERL), but had problems in the field related to: • bad MAP files and • processing SPaT/MAP data from up to 10 RSUs simultaneously FDOT SPaT Pilot Project – Lessons Learned 65
  • 66.
    Source: FDOT Video showing the OBU counting downuntil the traffic signal displays the left turn arrow. FDOT SPaT Pilot Project – Lessons Learned Pre-Deployment Testing Video Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 66
  • 67.
    FDOT SPaT PilotProject – Lessons Learned from early V2I Deployments • Two stage FCC licensing: • 1st - blanket approval for use of DSRC • 2nd - Location (GPS detail, mounting height of devices, make and model of RSU’s and OBU’s) • Ensure devices are licensed by FCC for deployment • Ask questions during the procurement process regarding device compatibility with controllers • Ensure the MAPs are properly coded and is validated (suggest using USDOT tool for field testing); best that vendors develop the MAP data on their own • Consider expanding SPaT with other CV technologies including bike-ped safety, etc. Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 67
  • 68.
    U.S. Department ofTransportation ITS Joint Program Office PreparingforCVDeployment STRUCTURED APPROACH TO CV DEPLOYMENT Progress Gate Phase 0 Phase 1: System Planning Phase 2: Design / Deploy / Test Concept Development Planning for CV Deployment System Requirements Comprehensive Deployment Plan Comprehensive Deployment Plan System Requirements Specification Application Development Participant Training & Stakeholder Education Partnership Coordination Outreach Planning ConOps Define Security Management Operating Concept Safety Management Performance Measurement and Evaluation Support Planning and Business Processes Systems & Technology Performance Measurement Organization/ Workforce & Culture Collaboration Deliverable Task/Activity 68Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 68
  • 69.
    PreparingforCVDeployment WHY EMPHASIZE CONCEPTDEVELOPMENT AND SYSTEM PLANNING? • To mitigate technical, institutional, and financial risk • To design and deploy on schedule and within budget • To create long-term technical and financial sustainability Successful deployment begins with disciplined Concept Development and System Planning Connected Vehicles Communications Data & Security/SCMS BREAK Pilots SPaT Preparing for CV Deployment 69
  • 70.