Module 38 - CV262
CV262: Vehicle-to-Vehicle (V2V) ITS Standards for Project Managers
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Slide 1:
Slide 2:
Welcome
Ken Leonard, Director
ITS Joint Program Office
Slide 3:
Module CV262:
Vehicle-to-Vehicle (V2V) ITS Standards for Project Managers
Updated November 2019
Slide 4:
Instructor
Kenneth Vaughn, P.E.
President
Trevilon LLC
Slide 5:
Learning Objectives
- Describe the connected vehicle environment
- Discuss V2V communications
- Describe the roles of standards for V2V communications
- Address challenges in realizing a V2V environment
- Describe the current status of connected vehicles
Slide 6:
Learning Objective 1
Describe the connected vehicle environment
Slide 7:
Illustrate the CV Environment
Slide 8:
Illustrate the CV Environment
The CV Environment
CV environment consists of:
- Connected vehicles
- Connected vulnerable road users
- Connected infrastructure
CV Communications
- Wireless
- Mixture of
- Short-range communications
- Remote communications
Slide 9:
Illustrate the CV Environment
The CV Environment
Goals
- Reduce accidents by 20-80%
- ~40,000 fatalities/year
- 6 million+ crashes/year
- Reduce congestion by 15-42%
- 6 billion+ wasted hours/year
- Support automated driving
- Improve mobility of those with disabilities
- Reduce pollution by ~10%
- 8 million tons+ of CO2
Slide 10:
Illustrate the CV Environment
The CV Environment
Cooperative ITS (C-ITS) vs. Traditional ITS
- Traditional ITS is a complex system
- Cooperative ITS is a complex system of systems
- Systems owned and operated by different entities
- No direct contract between these entities
- Much more complex (especially for security)
- Most CV applications are C-ITS
Slide 11:
Illustrate the CV Environment
V2V vs V2I
V2V course (this course):
- Vehicle-to-Vehicle
- Vehicle-to-Pedestrian
- ~300-meter range
- Support infrastructure
V2I course:
- Vehicle/Ped-to-Roadside
- Vehicle/Ped-to-Center
- Short range and wide area
- Support infrastructure
V2X is Vehicle-to-Anything
Slide 12:
Illustrate the CV Environment
Vulnerable Road Users
- Connected "vulnerable road users" include the following:
- Pedestrians
- Those with disabilities
- Alternative modes (e.g., bicycles, e-scooters, etc.)
- Maintenance and construction workers
- Emergency personnel
Slide 13:
Identify V2V Services
V2V Services
V2V Basic Safety Service Use Cases
Slide 14:
Identify V2V Services
V2V Services
V2V Basic Safety Service Use Cases
Slide 15:
Identify V2V Services
V2V Services
V2V Safety Services
- General
- V2V Basic Safety
- Vehicle control events
- Wrong way vehicle
- Hazard notifications
- Agency-relevant
- Slow/stationary vehicle
- Work zone warnings
- Emergency vehicle warnings
- Vehicle emergency response
- Vehicle turning in front of a transit vehicle
Slide 16:
Identify V2V Services
V2V Services
V2V Mobility Services
- Queue warning
- Cooperative adaptive cruise control
- Platooning
V2V Environmental Services
- Connected eco-driving
- Eco-cooperative adaptive cruise control
Slide 17:
Identify V2V Services
Vehicle-to-Pedestrian (V2P) Safety
In 2017, a third of fatalities were vulnerable road users:
- 5,172 Motorcyclists
- 5,977 Pedestrians
- 783 Pedalcyclists
- 228 Other non-occupants (e.g., workers)
Increase since 2009 has been in those aged 20-69 (from 1.6 to 2.2 per 100,000)
Slide 18:
Identify V2V Services
V2P Mobility
Source: Accessible Transportation Technologies Research Initiative (ATTRI)
Slide 19:
Societal Benefits of Connected Vehicles
Slide 20:
Slide 21:
Question
Which of the following does the USDOT NOT include in its list of benefits of connected vehicles?
Answer Choices
- Improved Safety
- Improved Environment
- Enhanced Entertainment
- Improved Mobility
Slide 22:
Review of Answers
a) Improved Safety
Incorrect. The USDOT has identified that safety is the primary benefit provided by the connected vehicle environment.
b) Improved Environment
Incorrect. The USDOT has identified various environmental benefits of connected vehicle services.
c) Enhanced Entertainment
Correct! While connected vehicles may be able to deliver entertainment, this is not included in the USDOT list of benefits since it is not a matter of major public interest.
d) Improved Mobility
Incorrect. Mobility has also been identified as a benefit for connected vehicles.
Slide 23:
Learning Objective 2
Discuss V2V communications
Slide 24:
Identify the Components of the V2X Network
Components of a V2X Network
Slide 25:
Describe the Information Exchange Requirements
Slide 26:
Describe the Information Exchange Requirements
Crash Avoidance Metrics Partners (CAMP)
Vehicle-to-Vehicle Basic Safety
-
Includes
- Forward collision warning
- Intersection movement assist
- Electronic brake light
- Etc.
Information exchange requirements define:
- What data is needed
- When data is needed
- From whom are data needed
- Under what conditions are data needed
- How are data exchanged (Learning Objective #3)
Slide 27:
Describe the Information Exchange Requirements
Data Requirements: Answers "What"
Vehicle-to-Vehicle Basic Safety
- Location (latitude, longitude, elevation)
- Speed
- Acceleration
- Direction of travel
- Acceleration rate
- Brake status (including anti-lock braking, traction control, etc.)
- Length and width of vehicle
- Steering wheel angle
- Others available as needed
Slide 28:
Describe the Information Exchange Requirements
Communication Requirements: Answers "What" and "When"
Vehicle-to-Vehicle Basic Safety
-
How accurate does data need to be?
- Defined for each field
-
How often is data needed?
- Latency less than 10 ms
- Generally, every 100 ms
Slide 29:
Communication Requirements
Communication Requirements: Answers "Who" and "Where"
Vehicle-to-Vehicle Basic Safety
-
Everyone within reaction distance
- Two cars approaching at a combined speed of 140 mph
- 140 mph = 205 ft/s = 62.6 meters/sec
- 300 meters provides a 4.8 sec horizon
-
Factors that favor minimizing distance
- Larger transmission distance might overload network
- Privacy requires minimizing who has access to information
- Radio transmission distances vary based on environment
Slide 30:
Communication Requirements
Key V2V Basic Safety Requirements
- Low latency: ~10ms
- Frequent communications (i.e., every 100 ms)
- Large, dynamic number of devices
- Continuum of devices
- Needs to work in rural areas without infrastructure
- Target transmission range: 300 meters
- No subscription necessary
- Not all applications have such strict requirements
- Some have more strict requirements
Slide 31:
Security Needs
Security Requirements
-
Protect confidential information
- Personally identifiable information
- Management information
- Prevent information leakage through data fusion
- Authenticate: Is the data from the claimed source?
- Authorize: Is the source of a request authorized to make the request?
-
Provide this security within the connected vehicle environment
- Devices may have never previously encountered each other
- Time-critical nature of security approvals
Slide 32:
Slide 33:
Question
What data is NOT included as a Basic Safety requirement?
Answer Choices
- Location of vehicle
- Weight of vehicle
- Length of vehicle
- Steering wheel angle
Slide 34:
Review of Answers
a) Location of vehicle
Incorrect. The location is used to determine how close the vehicle is.
b) Weight of vehicle
Correct! The basic safety application is intended to avoid collisions and the weight of the other vehicle has not been deemed to be a significant factor in these calculations.
c) Length of vehicle
Incorrect. The length of the vehicle is used to determine the limits of the vehicle.
d) Steering wheel angle
Incorrect. The steering wheel angle can be used to identify when the vehicle is sliding.
Slide 35:
Learning Objective 3
Describe the roles of standards for V2V communications
Slide 36:
Summarize the Benefits of Standards
Standards are Essential!
- Standards enhance interoperability in a multi-vendor environment
- Interoperability - degree to which two or more systems, products or components can exchange information and use the information that has been exchanged1
- Makes testing, integration, and management easier
- Helps with the design and procurement of a system
1ISO/IEC/IEEE 24765:2017 Systems and Software Engineering - Vocabulary
Slide 37:
Summarize the Benefits of Standards
Benefits
- Define common baseline (terminology, level of quality, testing, etc.)
- Reduce risks by clearly defining functionality
- Improves interoperability and interchangeability
- Reduces costly and risky customized integration efforts
- Creates a more competitive marketplace
- Encourages deployment of new and emerging technologies
Slide 38:
Identify the Standards to Support V2V Communications
ITS Station Architecture
Source: ISO 21217:2019
Slide 39:
Identify the Standards to Support V2V Communications
Application Entity
SAE J2945 Family
- Defines how to use Management, Facilities, and Security to implement a specific application, as defined by use cases
- Includes performance requirements
- Follows format defined in J2945 (a.k.a, "/0"):
- Concept of Operations
- Functional Requirements
- What, when and how often a message is sent
- Minimum quality requirements
- Security requirements
- Dialogs and Data
- Requirements Traceability Matrix
Slide 40:
Identify the Standards to Support V2V Communications
Application Entity
V2V-related standards in SAE J2945 Family
- J2945/1 2016: V2V Safety application
- J2945/2 2018*: V2V Awareness application
- Emergency vehicle alert
- Roadside alert (stopped/slow vehicles)
- Safety awareness (objects and road conditions)
- J2945/6W: Cooperative Adaptive Cruise Control and Platooning
- J2945/8W: Cooperative Perception System
- J2945/9 2017*: Vulnerable Road User
* Recommended Practice
W Work in Progress
Slide 41:
Identify the Standards to Support V2V Communications
Facilities Layer
SAE J2735 (2016)
Dedicated Short Range Communications (DSRC) Message Set Dictionary
- Primary message set for CV communications in North America
- Defines messages and data element
e.g., Basic Safety Message (BSM)
- Part I contains data elements that are necessary for safety applications and are expected to be broadcasted frequently
- Vehicle location, speed, heading, etc.
- Part II data elements are broadcasted less frequently
- Emergency braking, anti-lock brake activation, etc.
Slide 42:
Identify the Standards to Support V2V Communications
Management Entity
Management
- Included within other standards and proprietary definitions
- For example:
- Application might require use of a specific radio (e.g., DSRC) or channel, or define priorities for SAE J2735 messages
- A jurisdiction might transmit configuration or operational parameters that affect device operation
Slide 43:
Identify the Standards to Support V2V Communications
Security Entity
IEEE 1609.2 (2016 plus amendments)
Security Services for Applications and Management Messages
- Specifies:
- Base security processing requirements
- Communications security for Wireless Access in Vehicular Environments (WAVE) Service Advertisements and WAVE Short Messages
- Additional security services that may be provided
- Key portions adopted internationally (not just WAVE)
- Might have applications beyond ITS
- See Module CV265 for more details
Slide 44:
Identify the Standards to Support V2V Communications
Security Entity
IEEE 1609.2.1 (WIP)
Certificate Management Interfaces for End-Entities
- Defines how digital certificates are provided to and managed within end entities
- Digital certificates are provided by the Security Credential Management System (SCMS)
- Creates an ITS trust domain among entities that have no direct relationship
Slide 45:
Identify the Standards to Support V2V Communications
TransNet Layer
IEEE 1609.3 (2016)
Networking Services
- Specifies:
- Use of standard IPv6 protocol,
- WAVE Short Message Protocol (WSMP),
- Associated management functions
Slide 46:
Identify the Standards to Support V2V Communications
SubNet Layer
FCC allocated 5.9 GHz spectrum in 1999 for:
non-voice radio techniques to transfer data over short distances between roadside and mobile radio units, between mobile units, and between portable and mobile units to perform operations related to the improvement of traffic flow, traffic safety and other intelligent transportation service applications in a variety of public and commercial environments. DSRC systems may also transmit status and instructional messages related to the units involved.
Source: Federal Communications Commission, Dedicated Short Range Communications of Intelligent Transportation Services - Final Rule, FR Doc No: 99-30591
Slide 47:
Identify the Standards to Support V2V Communications
SubNet Layer
IEEE 1609.4 (2016) Multi-channel Operation
- Identified as protocol for 5.9 GHz spectrum in 2003
- Specialized Wi-Fi technology (references IEEE 802.11)
- Multiple access collision avoidance proven for decades
- Specialized version extensively tested since early 2000's
- Basis for all existing U.S. "deployments" to date
- Efforts underway to update standards to support new features
- Slow deployment has resulted in FCC review, which may result in:
- Assignment of spectrum to an alternative technology
- Spectrum sharing
- Loss of spectrum
Slide 48:
Identify the Standards to Support V2V Communications
SubNet Layer
3GPP
Cellular Data
- Based on cellular technologies (3GPP standards)
- Cellular data has always been envisioned to support V2X, such as:
- Infotainment
- Large file transfers
- Vehicle-to-Center communications
- "Cellular - Vehicle to Anything (C-V2X)" has been proposed as a replacement for some/all of the 5.9 GHz band currently assigned to WAVE, but still for ITS usage
The IEEE 802.11 Wi-Fi community has separately proposed to share the 5.9 GHz spectrum; this would intermix ITS and non-ITS uses
C-V2X has been chosen as the DSRC deployment technology in China
Slide 49:
Identify the Standards to Support V2V Communications
SubNet Layer
3GPP
Multiple releases; multiple bands
- Release 8 (first Long-Term Evolution (LTE) version, 2008)
- Release 14 (last Long-Term Evolution (LTE) version, 2017)
- Added stand-alone capability
- Claims to provide sufficiently low-latency
- Proprietary logic claimed to allow V2V Safety needs
- To be standardized in SAE J3161
- USDOT is testing technology against DSRC requirements
- Release 16 (5th Generation (5G), 2020)
- 5G is not backwards compatible with LTE in same band
- Ultra-low latency (e.g., for platooning) in a different band
- Timing of decisions and deployments might affect whether C-V2X is based on LTE or 5G technology
NOTE: First commercial products typically follow 1-2 years later
Slide 50:
Identify the Standards to Support V2V Communications
SubNet Layer
Current Situation
- Infrastructure deployments are underway using DSRC/WAVE
- Deployments provide agencies with experience and begin deploying core technologies
- Deployments of infrastructure encourage automobile manufactures to use technology
- Modular equipment exists that can support both technologies
Recommendation:
- Infrastructure deployments should proceed
- Deployments should use modular equipment that allows upgrades to radios, hardware, and software when needed
Slide 51:
Testing and Conformance
Conformance Testing Program / Certification
- Conformance test specifications have been developed by the USDOT for SAE J2945/1
- Private testing market with multiple vendors
Slide 52:
Slide 53:
Question
Which of the following is NOT part of the ITS Station Architecture?
Answer Choices
- Application Entity
- Facilities Layer
- Security Entity
- Presentation Layer
Slide 54:
Review of Answers
a) Application Entity
Incorrect. The Application Entity sits at the top of the stack.
b) Facilities Layer
Incorrect. The Facilities Layer sits just below the Application Entity in the Data Plane.
c) Security Entity
Incorrect. The Security Entity is on the right side of the stack.
d) Presentation Layer
Correct! The Presentation Layer is a part of the Open Systems Interconnect Reference Model and is fully contained within the Facilities Layer of the ITS Station Architecture.
Slide 55:
Learning Objective 4
Address challenges in realizing a V2V environment
Slide 56:
Items Recently Addressed (2015-2019)
Completion of key standards
- SAE J2945/1 V2V Safety Application
- SAE J2945/2 V2V Awareness Application
- SAE J2945/9 Vulnerable Road User Application
- Conformance test specifications for SAE J2945/1
Revisions of other standards
- SAE J2735 DSRC Message Set Dictionary
- IEEE 1609.2 Security Services for Applications and Management Messages
- IEEE 1609.3 Networking Services
- IEEE 1609.4 Multi-channel Operation
Slide 57:
Remaining Challenges to Realize V2V
Technical Challenges
- Access Layer challenges
- Implementation issues
- New applications and software updates
- Standards evolution
Institutional Challenges
- Data ownership and privacy
- Testing and certification
- Long-term support for SCMS
Slide 58:
Describe Remaining Technical Challenges to Realize V2V
Access Layer Challenges
- Challenges that apply to both C-V2X and WAVE
- Consistency of deployed technology
- Co-existence of C-V2X and WAVE in 5.9 GHz band
- Co-existence with non-ITS Wi-Fi (a.k.a. spectrum sharing)
- Evolution of selected technology
- Additional challenges that apply to C-V2X
- Communication scheduling in a dynamic environment
- True broadcast capability
- Potential stalking distance
- Anonymity capability
- Overall performance of C-V2X in all environments
- Impacts to existing investments
- Royalty/service fee policies are unclear
Slide 59:
Describe Remaining Technical Challenges to Realize V2V
Implementation Issues
- V2V: Two vehicles need to be equipped and interoperable for benefits
- One vehicle must broadcast, and another vehicle must receive at the same time
- No manufacturer has more than 17% market share
- The average car is more than 11 years old
- One vehicle must broadcast, and another vehicle must receive at the same time
- Level of technology will vary
- Many vehicles will predate technology
- Some vehicles may have after-market listen only devices
- Equipped vehicles will have various levels of support
- Basic safety will generally be supported
- Reporting remote objects requires specialized sensors
- Some vehicles might be equipped with automated driving systems
- Interaction with driver will vary
- How do drivers of rental vehicles react?
Slide 60:
Describe Remaining Technical Challenges to Realize V2V
Implementation Issues
- Agencies have little experience in deploying V2V technologies
- Slow/stationary vehicle
- Work zone warnings
- Emergency vehicle warnings
- Vehicle emergency response
- Vehicle turning in front of a transit vehicle
- Deployment strategy for connected vehicle technologies
Develop a deployment timeline to meet likely constituent demands
Consider institutional issues such as need to develop and update agency policies and practices to meet V2V needs
Establish a budget for deployment and maintenance
Access necessary expertise for successful projects
Slide 61:
Describe Remaining Technical Challenges to Realize V2V
New Applications and Software Updates
- New applications will emerge and update continually
- Can new/updated applications be installed into vehicles?
- Conceptually, they could be installed as with a smart phone
- Safety-critical nature of a vehicle complicates installation
- Applications and interactions between applications are likely to require extensive testing
Slide 62:
Describe Remaining Technical Challenges to Realize V2V
Standards Evolution
- The emergence of C-V2X highlights the need to consider standards evolution
- How will a version 1 car interoperate with version 2 cars?
- Question has to be asked for each area of communications stack
Slide 63:
Describe Institutional Challenges
Data Ownership and Privacy
- Need to limit distribution of sensitive data
- Prevent sharing of sensitive data that can be combined to reveal personally identifiable information
- Establish rules on what information can be shared and used for what purposes
- Need for anonymity of vehicles and vulnerable road users
- Prevent tracking of individuals
- Allow personal information when needed (e.g., tolling)
- Still an open issue for C-V2X
Slide 64:
Describe Institutional Challenges
Testing and Certification
- For V2V, largely left to private sector
- Supported by USDOT projects as appropriate
- E.g., development of common test procedures
Slide 65:
Describe Institutional Challenges
Security and Credentials Management System (SCMS)
- In 2017, the USDOT established SCMS Proof-of-Concept (POC)
- Intended to operate through 2020
- USDOT's National SCMS Development project
- Working closely with stakeholders to develop a viable ecosystem
- Develop a National SCMS Deployment Strategy
- Define long-term governance of National SCMS
Slide 66:
Describe Actions that Transportation Agencies Can Take
Deployment
- Develop plans to begin phasing in agency applications
- Slow/stationary vehicle safety
- Work zone/worker safety
- Emergency vehicle warnings
- Ensure deployments rely on modular designs that allow upgrading to new technologies
* Percent of annual global production
Slide 67:
Slide 68:
Question
Which of the following has NOT been identified in this presentation as a V2V service that agencies might need to consider implementing?
Answer Choices
- Work zone warnings
- Fleet management
- Emergency vehicle warnings
- Slow vehicle warnings
Slide 69:
Review of Answers
a) Work zone warnings
Incorrect. Agencies should consider equipping their work zone vehicles with technologies to alert motorists of their presence.
b) Fleet management
Correct! While agencies may need to manage a fleet of vehicles, a V2V component of this was not identified in this presentation.
c) Emergency vehicle warnings
Incorrect. Agencies should consider equipping their emergency vehicles with technologies to alert motorists of their presence.
d) Slow vehicle warnings
Incorrect. Agencies should consider equipping their slow vehicles with technologies to alert motorists of their presence.
Slide 70:
Learning Objective
Describe the current status of connected vehicles
Slide 71:
Introduce Standards and Research Underway
- National SCMS Development project
- SCMS POC ends December 2020
- USDOT is testing V2X SubNet Layer
- Wi-Fi spectrum sharing with DSRC
- C-V2X
- Military radar interference
- C-V2X specification (SAE J3161)
- Platooning and Cooperative Adaptive Cruise Control (SAE J2945/6)
- Cooperative perception (SAE J2945/8)
- Continual maintenance of standards
Slide 72:
Slide 73:
Connected Vehicle Pilot Deployments
Pilot deployments identified and helped to address V2V challenges to kickstart the CV ecosystem, including the following:
- Promoting privacy by refining security certificate policies
- Refining the definition of crosswalks within MAP messages
- Demonstrating over-the-air interoperability
- Highlighting the need for vehicles to support dual 1609.4 radios
Addressing these key issues will facilitate all future deployments
Slide 74:
List Resources for Further Reading and Information
Architecture Reference for Intelligent and Cooperative Transportation (ARC-IT)
- A reference architecture that spans all ITS and includes detailed references to standards with explanations of gaps, overlaps and inconsistencies between the standards
- Can be used as a resource for planning or deployment
- http://local.iteris.com/arc-it/
Slide 75:
Slide 76:
Question
Which of the following is the USDOT currently testing in relation to communication technology alternatives offered by C-V2X and DSRC?
Answer Choices
- Access Layer
- TransNet Layer
- Facilities Layer
- Management entity
Slide 77:
Review of Answers
a) Access Layer
Correct! DSRC and C-V2X are competing Access Layer communication technologies.
b) TransNet Layer
Incorrect. The TransNet Layer is defined by IEEE 1609.3.
c) Facilities Layer
Incorrect. The Facilities Layer is defined by SAE 2735.
d) Security Entity
Incorrect. The Security Entity is defined by IEEE 1609.2.
Slide 78:
Module Summary
- Describe the connected vehicle environment
- Discuss V2V communications
- Describe the roles of standards for V2V communications
- Address challenges in realizing a V2V environment
- Describe the current status of connected vehicles
Slide 79:
Connected Vehicle Modules
For Project Managers
Module 1. I101:
Using ITS Standards: An Overview
Module 46. CV261:
Vehicle to Infrastructure (V2I) ITS for Project Managers
Module 38. CV262:
Vehicle-to-Vehicle (V2V) ITS for Project Managers
More Detailed Connected Vehicle Modules
CV263: Roadside Equipment Requirements
CV265: Introduction to IEEE 1609 Family of Standards
CV273: Introduction to SPaT/MAP Messages
CSE201: Introduction to SCMS
Slide 80:
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