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MN Test Intersection Design Update Summary

Detailed update on the design progress and instrumentation specifications for the Mn/DOT test intersection construction project. Includes radar and camera performance results, sensor mounts, and surveillance camera configurations. Also covers vehicle trajectory data and driver behavior analysis collected from the intersection.

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MN Test Intersection Design Update Summary

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  1. MN IDS Intersection Construction Update

  2. MN IDS Test Intersection • Design Completed 15 Jan 2004 • Design review with Mn/DOT traffic, geometric, district, and ESS engineers • Good advice • Recommendations for sensor mounts (3# U channel) • Nothing in the median lasts • Revised cross-roads surveillance • Laser sensors to Visible Light/IR Cameras • Explored opportunity to cooperate on construction • Month of negotiations, didn’t work out. • ROC 52 • ESS

  3. MN IDS Test Intersection • Mid-February, back to drawing board • Began RFP Process with U Purchasing • Facilities Management Buyer Handled RFP process • Regents Approval > $100,000 • Much interaction with Mn/DOT on RFP document • Request for Bids was let 23 March 2004 • One bid, Shane Electric in Zumbrota, MN • Trenching • Under-road pushes • Power cabinet construction (thanks, Ray!) • Installation of Camera Masts

  4. MN IDS Test Intersection • Mn/DOT Assistance (Feb 06 Meeting) • Sensor posts • Reflectors • Special Needs • Mowing • Plowing • U Assistance • Live video streams from Intersection • Useful for maintenance

  5. MN Test Intersection Final Design

  6. Instrumentation • Mainline • Vehicle speed, position, lane of travel (Radar) • 2000 foot coverage before Xroads (Radar) • 800 foot coverage beyond (Radar) • 53’x36’ coverage at camera (IR/Visible) • Hardwired and Wireless Communication • Cost and performance trade-off analyses • Crossroads • Vehicle type (Radar and laser based) • Vehicle approach speed (adapt VA technology at a later date?) • Trajectory leaving minor road • Right turn (camera + radar) • Straight through (camera) • Left turn (camera + radar)

  7. MN Test Intersection-Mainline Sensors Camera Suite (for evaluation) Radar to track vehicles past crossroads (primarily for minor road trajectory recording) Radar Camera FOV 53’x36’

  8. Mainline Highlights • Camera / mast provides independent means to verify • Radar performance • Camera performance • Gap tracker performance • Emerging technologies • May or may not be part of final system • Benefit:cost analysis • Poor weather capability of vision based systems

  9. Mainline Radar Sensor

  10. Laser / Radar Sensor Mount • Approved by Mn/DOT Right-of-Way Engineer • 350 Crash worthy • Will include break-away conduit and connector • Will include reflector at top of 3# U channel

  11. Radar Performance Results: Geometrics

  12. Radar Performance Results: Coverage

  13. Radar Performance Results: Lane Classification Errors

  14. Radar Performance Results: Speed Errors

  15. C4 FOV C3 FOV Intersection Crossroads-Vehicle Trajectory Cameras at intersection corners capture the trajectory of vehicles entering intersection from minor roads. Mn/DOT advised that median-based sensors won’t live. (Crashed out).

  16. Intersection Surveillance – 160x120 Pixels (tests Thursday, 15 April 2004) • Advantages • Lower Cost ($10k per camera) • Can order camera with desired lens (saves cost of purchasing additional lenses_ • Flexible (more camera, cover more area) • Disadvantages • Multiple cameras require multiple masts ($6k per mast) • Lower resolution makes image processing more difficult

  17. Example of 160x120 IR camera

  18. Intersection Surveillance – 320x240 Pixels (tests Thursday, 15 April 2004) • Advantages • Higher Resolution – simplifies image processing • One 320x240 camera can cover more area than 2 160x120 cameras • Potentially lower costs (fewer masts, less cabling, etc.) • Disadvantages • Higher Cost baseline - $15K • Comes with fixed 25 degree FOV lens • Additional lens $5k

  19. Example of 320x240 IR camera

  20. Single Camera Configuration Pixel Sizes at far field: A20 - 11.32 x 17.6" A40 - 5.66 x 8.8"

  21. Double Camera Configuration Pixel Sizes at far field: A20 8.16x11.61" A40 4.08x5.8" Previous configuration A40 - 5.66 x 8.8"

  22. Camera Based Validation – Tracking Example (ca. March 2003) Tracking on this side No tracking on this side

  23. Camera Mount Detail

  24. Classification Capable T-300 Radar Horizontal Laser Scanner Classification Capable T-300 Radar Vertical Laser Scanner Intersection Crossroads – Vehicle Classification

  25. R/WIS Data from Intersection Mn/DOT updates at 10 Minute intervals. Data collected every 10 minutes

  26. Information Available from Intersection • Distribution of gaps accepted by drivers • for right turns • for left turns • for crossing intersection (see next page) Cross-correlated with • Vehicle type / size • Driver age (macroscopic level, limited basis initially) • Driver gender (limited basis initially) • Weather effects (R/WIS 0.9 Mile away), with in-road sensors (collecting data already)

  27. Information Available from Intersection (cont’d) • Maneuvers executed by drivers from minor road • Left turn in one stage or two? • Variation in left and right gaps accepted for each maneuver type • Cross-correlation with vehicle type • Crossing intersection in one stage or two? • Variation in left and right gaps accepted for each maneuver type • Cross-correlation with vehicle type

  28. Information Available from Intersection (cont’d) • Response of mainline traffic • Speed adjustment if stationary vehicle on minor road • Do mainline drivers adjust speed if a vehicle is spotted on minor road? • Will mainline drivers move to left lane (when possible) to provide a lane for the minor road traffic? • Reaction of drivers on major road if too small gap is accepted • Braking? • Lane change? • Other?

  29. Design Detail: Main Controller Cabinet

  30. Design Detail: Intersection Cabling

  31. Design Detail: Intersection Cabling

  32. Intersection Build Details • Hardware • Cameras, radar, lasers, camera masts, radar stations, etc., ordered or out on bid. • iDAQ (intersection Data AcQuisition) computers built • Software • Camera based vehicle tracking software under continued development (20 FPS vs. existing 5 FPS for improved tracking and robustness) • Wireless system integrity software scaled from Demo 2003 version • IR Camera demo/eval at U of MN 15 AP 2004

  33. Intersection Build Details – costs (Don’t Panic!) • Radar Stations • Vehicle Classification Stations • Vision Systems • Central Cabinet • Ethernet and Video Cable • $191,837

  34. Minnesota Intersections 4 Camera masts (eval) $24K 4 Laser sensors for vehicle classification validation $26K 2 or 4 IR Cameras $40k 4000 ft. of trenching (no cost estimate yet) Wireless and Hardwired ethernet $18K DSL, $4K wire Wired for big power Partner Intersections 1 Camera Mast at Xroads $6k Eaton radar likely validated $0K 1 IR Camera $10 or 20K 3000 feet of trenching (no cost estimate yet) (hopefully) Wireless ethernet Significantly lower power requirements Partner State Research Intersections States’ Savings: $84 K, making investment $207,000 Power and Data costs approximately $150/mo

  35. Schedule Adherence TODAY Intersection Brought On-line Human Factors Simulator DII Testing Begins Final Report Preparation Begins

  36. Questions? Comments? Problems? Field Trip!

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