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1
Vehicles as Mobile Sensing Platforms
for Critical Weather Data
Briefing for the
VII Weather Applications Workshop #1February 22, 2006
National Center for Atmospheric Research, Boulder, CO
Andrew D. SternMeteorologist
Principal Investigators
Keith J. BieseckerElectrical Engineer
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FHWA Task Management
• James Pol, USDOT, ITS Joint Program Office
• Paul Pisano, FHWA, Office of Operations, Road Weather Management
Road Weather Management
Special thanks to Vaishali Shah and Calvin Yeung for assistingwith the preparation of this presentation.
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Task Objectives
• Foundational work for VII/Clarus on the use of vehicles as weather probes
• Create a test environment that can provide both routine and on-demand data acquisition
• Provide a set of statistics to begin a discussion about the usefulness of weather data from vehicles
• Provide an initial estimate of temperature bias from vehicle sensors
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Task Timeline
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Collaboration with NCAR
• Coordinate with NCAR on research– Provide project plans, sample data sets– Provide all presentations– Coordinate on objectives & methods
• Participate in NCAR Workshops• Provide all data sets and reports at
the conclusion of the task
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DullesAirport
Dulles Toll Road Instrumented Corridor
CapitalBeltway
N
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Sensors
• Control Products “Surface Patrol 999J” system – General
• A non-contact infrared surface temperature sensor (scans pavement as the vehicle passes over it)
• Independent ambient (air) sensor• Dash mounted digital meter• Digital interface for system status, configuration, and data collection
– Specifications• Operating Range: -40F to +200F (surface), -40F to +160F (ambient) • Resolution: 0.1F (both)• Accuracy: 0.5F for ambient temperatures from 0-120F • Shock/Vibration: 50G, 10G on any axis• Radio frequency hardened & ambient temperature compensation• Sampling frequency: Variable to 0.1 sec
– Selection Rationale• Recommended: “Laboratory and Field Studies of Pavement
Temperature Sensors” by Ron Tabler, The Aurora Consortium, May 25, 2005
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Sensors (continued)
• Watchport® /T– General
• Ambient temperature sensor• Plug and Play USB device designed for
environmental monitoring. • Application software for centralized device status,
control, and data logging– Specifications
• Operating range: -40F to 185F • Resolution: 0.1º C • Accuracy: +/- 0.9 F (14F to 185F); +/- 3.6F (-40F to
14F)) • Sampling frequency: Variable to 8 sec.
– Selection rationale • Easy integration with existing laboratory resources• Device specifications similar to those used in most
automobiles for ambient temperature measurements
• Easy integration of other Watchport devices (e.g., proximity, distance, acceleration/tilt, relative humidity)
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Sensors (continued)
• Vehicle Explorer Scan Tool– Freeware utility being developed to collect diagnostics from OBDII
system– RS232 interface for configuration, status, and data collection– Sample frequency: 2 sec– Sampling all (18) parameters available on our three test vehicles
• Engine coolant temperature• Engine revolutions per minute• Vehicle speed• Intake air temperature (IAT)
• Onboard Diagnostics II (OBDII):– A 2nd generation emissions diagnostic
system required on all 1996 and newer vehicles
– Monitors vehicle emissions parametersand stores diagnostic trouble codes.(non-emission related parameters in next generation system - OBDIII)
– Hundreds of potential parameters to collect depending on vehicle (year/make/model)
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• Mobile Wireless Laboratory– Custom Ford E-450 cutaway van, high-cube body– Integrated computing, networking, display, and
communication systems• Various CMRS (1xRTT, EVDO, GPRS, EDGE, iDEN)• Various WLAN (802.11a,b/g)• Satellite (broadband data, TV)• Pre-802.16-2004 (WiMAX)• Wireless ad-hoc meshed networking• Servers, gateways, development PCs, routers, etc.• Multimedia peripherals (e.g., tablets, cameras)• Digital and analog A/V; multi-terminal• Test & measurement
• Ford Crown Victoria, Police Interceptor (‘98)– Two vehicles– Computing, networking, and display systems
Test Vehicles
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OBD2Intake Air Temperature (IAT)
Watchport USBAmbient Temperature Sensor
@ Air Intake
Control Products J999Ambient Temperature Sensor
@ Front Bumper
Control Products J999IR Surface Temperature Sensor
@ Front Bumper
Watchport USBAmbient Temperature Sensor
@ Rear Bumper
GPS Receiver
Watchport USBAmbient Temperature Sensor
@ Front Bumper
Sensor Placement: Mobile Lab
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OBD2Intake Air Temperature (IAT)
Watchport USBAmbient Temperature Sensor
@ Air Intake
Watchport USBAmbient Temperature Sensor
@ Rear Bumper
GPS Receiver
Watchport USBAmbient Temperature Sensor
@ Front Bumper
Sensor Placement: Crown Victorias
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Sensor Maintenance & Calibration • Maintenance
– Examine sensors prior to each run– Clean all sensors (as needed)
• Test and calibration (as needed)– Test all sensors for accuracy once per week
• Ambient– OMEGASCOPE® HH22 Digital Thermometer
» Accuracy: 1°F + 0.1% reading» Range: -10 to 1000°F» Resolution: 0.1
• Surface– OMEGASCOPE® Handheld Infrared Thermometer
» Accuracy: ±1.0 % reading (or 3°F, greater) » Range: -10 to 1000°F» Resolution: 1.0
– Calibrate surface sensor (999J) as needed
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Data Collection• Human Observations (recorded every 60 sec)
– Cloud cover• Clear, partly cloudy, mostly cloudy, cloudy
– Precipitation Occurrence & Intensity• None, light, moderate, heavy
– Precipitation Type• None, drizzle, rain, freezing rain, sleet, snow
– Visibility• No restriction, light fog, dense fog, rain, ice, snow,
road spray
– Pavement Condition• Dry, wet, slushy, snow covered
– Lightning/Thunder (Y/N)– Mixing Winds (Y/N)
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Data Collection (continued)• Schedule
– 15 November 2005 – 31 March 2006– Once a day; at least 3 days/week – AM, PM, or mid-day – Special weather events (resources
permitting)
• Drive Method– Platooning – one vehicle following the mobile lab,
one flanking to the right (as feasible)
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Mobile Lab
Date 02/16/06 Time: 16:08:26Location: 38° 56’ 47.25”N, 77 ° 17’ 39.52”W
Speed: 55 mphAmbient Temperature - OBD2 (IAT): 70 °F - Air Intake: 69.56 °F - Rear Bumper: 77.62 °F - Front Bumper: 68.75 °F - Front Bumper (999J – GT): 68.6 °F
Road Surface Temperature: - Front Bumper (999J): 68.8 °F
Car #1
Date 02/16/06 Time: 16:08:26Location: 38° 56’ 47.05”N, 77 ° 17’ 39.40”WSpeed: 55 mphAmbient Temperature - OBD2 (IAT): 68 °F - Air Intake: 69.12 °F - Rear Bumper: 86.75 °F - Front Bumper: 68.62 °F
Car #2
Date 02/16/06 Time: 16:08:26Location: 38° 56’ 46.96”N, 77 ° 17’ 38.32”WSpeed: 54 mphAmbient Temperature - OBD2 (IAT): 70 °F - Air Intake: 69.31 °F - Rear Bumper: 82.25 °F - Front Bumper: 69.18 °F
Mobile Data Samples:Single Point
Fixed ObservationsIAD ASOS @ 15:52 Air Temp=18.9°C (66°F)
DTR Plaza ESS @ 16:08:13 Air Temp= 19.3 °C (66.7 °F) Road Temp= 23.3 °C (73.9 °F)
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ASOS (KIAD)
RWIS/ESS #2Radar(KLWX) & Upper Air
DullesAirport
Dulles Toll Road Fixed Observations
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Fixed Sensors: RWIS/ESS #1
<ntcipMessage source="Dulles_ Toll_ Rd_ E_ Plaza" lat="90000001" lon="180000001" type="obs" dataTime="20051109T163749" xmlns:xsi="http:/ / www.w3.org/ 2001/ XMLSchema-instance" xsi:noNamespaceSchemaLocation="http:/ / ice.tmi.vaisala.com/ ntcip.xsd">
<value name="essSubSurfaceTemperature.1">186</value> <value name="essSubSurfaceMoisture.1">101</value> <value name="essSubSurfaceSensorError.1">2</value> <value name="essAirTemperature.1">145</value> <value name="essAtmosphericPressure.0">65535</value> <value name="essAvgWindDirection.0">180</value> <value name="essAvgWindSpeed.0">6</value> <value name="essMaxWindGustSpeed.0">34</value> <value name="essMaxWindGustDir.0">222</value> <value name="essRelativeHumidity.0">90</value> <value name="essPrecipRate.0">65535</value> <value name="essSnowfallAccumRate.0">65535</value> <value name="essPrecipitationOneHour.0">65535</value> <value name="essPrecipitationThreeHours.0">65535</value>
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Fixed Sensors: RWIS/ESS #1
N
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Fixed Sensors: RWIS/ESS #3
Non-invasiveSurface StateSensing
Non-invasiveSurface TemperatureSensing
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Dulles Airport ASOS (KIAD)
METAR text: KIAD 091651Z 20008KT 6SM BR SCT010 BKN110 14/12 A2997 RMK AO2 CIG 009 WEST SLP149 T01440122
Conditions at: KIAD observed 1651 UTC 09 November 2005 11:51Temperature: 14.4°C (58°F)
Dewpoint: 12.2°C (54°F) [RH = 87%]29.97 inches Hg (1015.0 mb)[Sea-level pressure: 1014.9 mb]
Winds: from the SSW (200 degrees) at 9 MPH (8 knots; 4.2 m/s)Visibility: 6 miles (10 km)
Ceiling: 11000 feet AGLscattered clouds at 1000 feet AGLbroken clouds at 11000 feet AGL
Weather: BR (mist)
Pressure (altimeter):
Clouds:
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Dulles Airport ASOS (KIAD)
• Maintained/calibrated by NWS• Open exposure on airfield, in a
grassy region• Official climate station for
temperature• Observation augmented by human
observer
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NWS Doppler Radar (KLWX)
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Road Domain translation to Radar Reference Frame via GIS
Major Roads in Metropolitan Washington D.C.
NWS Doppler RadarSterling, VA
Route Segment of Interest:Dulles Toll Road
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Precip Estimates on Road Segments
1 km radar bins. Measure primary (red)and secondary (yellow) to obtain an average radar reflectivity value per bin.
Dulles Toll Road extends 21 km (bin 3-24)
Reflected Energy (Z) = A (Rainfall Rate (R))
Reflectivity-Rainfall Rate (Z-R) Relationship
B
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Establishing Ground Truth (GT)
• Use the Control Products 999J as GT• Compare GT with:
– Fixed Air Temperature Sensors (ASOS & ESS)
– OBDII On Board (OEM) Sensors– Watchport Sensors
• Intake Air Temperature• Front Bumper Temperature• Rear Bumper Temperature
– ESS Pavement Temperature Sensors
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Temperature Data Time Series (#1)
Route Start Route EndEngine Warm Up
ASOS=39FESS=45F
Silver Car 1/17/2006
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Temperature Data Time Series (#2)
Route Start Route EndEngine Warm Up
Blue Car 1/17/06
ASOS=39FESS=45F
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What Happens in Heavy Traffic?
Blue Car 12/22/06
Video Snapshot Time
ASOS=41ESS=49
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Average Temperature Statistics
MobileGroundTruth
DullesASOS
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Average Variation by Sensor Type
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Mobile vs. In Situ Temperatures
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Proposed Data Comparisons
• Compare Temperature Values Under Different Conditions:– Mixed (windy) versus calm conditions– Readings during rainy conditions– Readings during snowy/icy conditions– Compare changes during radar derived
light, moderate or heavy precipitation– Compare during low and high sun angles– Compare during light versus heavy traffic
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Deliverable Report
• Report delivered at end of task: 4/15/05
• Create hypotheses on mobile temperature sensor biases based on:– Sensor placement (position)– Weather conditions (precipitation, winds)– Traffic conditions– Sun angle (time of day)
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Contact Information
• Andy Stern– [email protected]– 703-610-1754
• Paul Pisano– [email protected]– 202-366-1301
• James Pol– [email protected]– 202-366-4374