Welcome to the Penn State wiki page for details on the Automated Driving System Workzone project. This page presents details primarily focused on the Penn State team activity. Additional details can be found at the PennDOT's public ADS page, which can be found here
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- Project Vision, Mission, Goals, and Objectives This introduces the project vision, mission, goals and objectives.
- The Motivation for the Safe Integration of Automated Vehicles into Work Zones This introduces the motivation for the Safe Integration of Automated Vehicles into Work Zones.
- Team Members The introduces Penn State team members.
- Project activity by year This categorizes project activity by year.
- Project activity by topic This categorizes project activity by topic.
- Project activity by modality This categorizes project activity by modality.
- Project activity by member This categorizes project activity by member.
This section introduces the project vision, mission, goals and objectives. Please click to see details.
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Vision – Enable automated vehicles to safely operate in work zones without human intervention.Mission – Reduce traffic fatalities and increase mobility for all Americans in work zones through automated vehicles.
Goals – Achieve safe navigation of automated vehicles within work zones.
Objectives of this project:
- Evaluate the impact of improved connectivity between the AVs and the work zone artifacts using DSRC/C-V2X.
- Evaluate the impact of increased visibility (machine vision) of pavement markings and work zone artifacts on AVs through innovative coatings
- Evaluate the impact of providing high definition mapping of work zone artifacts (i.e. cones, barrels, workers, vehicles)
- Improve the map information dissemination process from the mapping providers and/or infrastructure owners/operators to the AVs through standardization of digital mapping information for work zones.
This section introduces the motivation of this project. Please click to see details.
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In 2015 there were an estimated 96,626 crashes in work zones, an increase of 7.8 percent from 2014. This makes 2015 the second year in a row that work zone crashes rose after a low of 67,887 in 2013. For comparison, in 2009 there were 667 work zone fatalities. Crashes in highway work zones have killed at least 4,700 Americans – more than two a day – and injured 200,000 in the last five years alone. There are more than 40,000 injuries in work zones each year. About 85 percent of people killed in work zones are motorists, not workers.In Pennsylvania, the number of work zone crashes has steadily increased since 2007. Pennsylvania has also consistently appeared in the top 10 states with the most commercial motor vehicle-related work zone crashes.
With Autonmous Vehciles being increasingly deployed to public roads, construction zones may present challenges to these vehicles, construction zone operators, and the surrounding traffic. Construction zones, by definition, are new areas with features that did not exist earlier, that are dynamic, and that may not follow typical conventions. The AV behaviors in workzones may not follow human-driven vehicle behavior, which can confuse construction zone operators that may assume human driving behavior. And as both AVs and construction environments interact with each other, the vehicles nearby the AV may also need to respond to new behaviors. Our project intends to investigate these behaviors to improve safety in and around work zones for AVs. This is achieved by increasing identification and connectivity with work zone artifacts, improving visibility by coating pavement marking and work zone artifacts, and improving mapping of work zones.
This section introduces Penn State team members. Please click to see details.
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Project PIs
Dr. Sean Brennan
- Students
| Maddipatla Satya Prasad | Wushuang Bai | Liming Gao | Xinyu Cao |
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| Artkaew, Phakphum | Bodenschatz George Nathan | Bhavya Jain | Justin Kerr |
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| Putz Marcus Jun Wei Ng | |||
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fig1
Satya
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- Time Synchonization:
FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal
Methods to externally trigger FLIR cameras to external trigger signals.
FieldDataCollection_TypicalHardwareSetups_TimeSync_ArduinoUsingGPSPPS
Producing tight time-trigger pulses (less than 20 microseconds jitter) via Arduinos.
FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox
Producing tight time-trigger pulses (less than 20 microseconds jitter) via Arduinos. - Camera subsystems redesign:
Hardware_MappingVanHardware_Camera
Remounting the cameras to improve regidity, water intrusion, and hardware faults
Camera Calibration
Methods used to calibrate the camera system
FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox
Producing tight time-trigger pulses (less than 20 microseconds jitter) via Arduinos. - LiDAR subsystems redesign:
Hardware_MappingVanHardware_LiDAR
Documents of LiDAR specs
FieldDataCollection_TypicalHardwareSetups_LIDARs_CeptonX90Install
Procedure of installing CeptonX90 LiDAR
FieldDataCollection_TypicalHardwareSetups_LIDARs_VelodyneVLP16Install
Procedure of installing VelodyneVLP16 LiDAR - Redesign of other hardware subsystems:
Hardware_MappingVanHardware_Encoder
Setup of encoders
Hardware_MappingVanHardware_Radar
Setup of Radar
Hardware_MappingVanHardware_PowerSystem
Setup of power system
Hardware_MappingVanHardware_GPS
Setup of GPS
Hardware_MappingVanHardware_IMU
Setup of IMU
Hardware_MappingVanHardware_SteeringSystem
Setup of steering system - Data parsing:
FieldDataCollection_DataCollectionProcedures_ParseRawDataToDatabase
Parse raw data (.bag) to raw data database
FieldDataCollection_DataCollectionProcedures_DataTransferWithDMS
Transfer data to PennDOT DMS
FieldDataCollection_DataCollectionProcedures_AutomatingDataTransferToDMSUsingCommandLine
Transfer data to PennDOT DMS using command line tools
FieldDataCollection_DataCollectionProcedures_StitchingImagesToVideo
Stitching parsed images into a video
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- Microscopic traffic simulation:
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA
Launch page to get started with CARLA
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO
Launch page to get started with SUMO
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation
Launch page to get started with CARLA-SUMO cosimulation
To be added:
Prepare V2x systems for comms
Prepare road-side devices for connectivity and position measurement
Develop code to parse mapping van data for work-zone objects
Develop code that determines safety metrics for work zones (--)
(etc).
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- Microscopic traffic simulation:
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA
Launch page to get started with CARLA
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO
Launch page to get started with SUMO
TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation
Launch page to get started with CARLA-SUMO cosimulation
Mapping:
- Mapping test track
Workzone Instrument:
- V2X
- Smart traffic cone
- Vests
- Over head cameras
Simulation:
- CARLA
- SUMO
Test track
Field test
Penn State team
CMU team
PennDOT team
Deloitte Team
This project is funded by USDOT via Pennsylvania Department of Transportation under NOFO # 693JJ319NF00001.