MN IDS Intersection Construction Update
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
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
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
MN Test Intersection Final Design
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)
MN Test Intersection-Mainline Sensors
Radar
Camera Suite(for evaluation)
Camera FOV53’x36’
Radar to track vehicles past crossroads (primarily for minor road trajectory recording)
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
Mainline Radar Sensor
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
Radar Performance Results: Geometrics
//
Radar Beam
Lane 1
Lane 2
DLC
2
DLC
1
L1Cov
L2Cov
Radar Beam Range (440 ft)
= Radar Orientation Angle (w .r.t. lane)DLC1 = Sensor Distance from Lane-center 1DLC2 = Sensor Distance from Lane-center 2LCov1 = Theoretical Lane coverage (Lane 1)LCov2 = Theoretical Lane coverage (Lane 2)
BeamWidth(120)
ActualVehiclePosition
SensorReportedPosition
RadarStation
}}
Radar Performance Results: Coverage
Radar Performance Results: Lane Classification Errors
Radar Performance Results: Speed Errors
Intersection Crossroads-Vehicle Trajectory
C4 FOV
C3 FOV
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).
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
Intersection Surveillance – 160x120 Pixels (tests Thursday, 15 April 2004)
Example of 160x120 IR camera
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
Intersection Surveillance – 320x240 Pixels (tests Thursday, 15 April 2004)
Example of 320x240 IR camera
Single Camera Configuration
Pixel Sizes at far field:A20 - 11.32 x 17.6" A40 - 5.66 x 8.8"
Double Camera Configuration
Pixel Sizes at far field:A20 8.16x11.61" A40 4.08x5.8"
Previous configurationA40 - 5.66 x 8.8"
Camera Based Validation – Tracking Example (ca. March 2003)
Tracking on this side
No tracking on this side
Camera Mount Detail
Intersection Crossroads – Vehicle Classification
Horizontal LaserScanner
Vertical LaserScanner
Classification Capable T-300 Radar
Classification Capable T-300 Radar
R/WIS Data from Intersection
Mn/DOT updates at 10 Minute intervals. Data collected every 10 minutes
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)
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
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?
Design Detail: Main Controller Cabinet
Ethernet Switch
Main Control Computer
MarshallVL2122 Rcrv
MarshallVL2122 Rcrv
MarshallVL2122 Rcrv
MarshallVL2122 Rcrv
Circuit Breaker Panel50Amp. Power
sourced from MainDistribution Cabinet
Cabinet Power Outlet
Phone Jack
Ethernet fromSouthbound Lane
Ethernet from Northbound Lane
Video fromNorthbound Lane
Video fromSouthbound Lane
Ethernet Switch
2158 Power
SupplyPowerSupply
1001RChassis21
58
2158
2158
2158
2158
2158
2158
2158
2158
2158
2158
2158 Power
SupplyPowerSupply
1001RChassis21
58
2158
2158
2158
2158
2158
2158
2158
2158
2158
2158
c
iDAQ ComputerRemovable Hard Drive
120 VAC Outlet Strip with Surge ProtectionMinimum 12 outlets
iDAQ Computer 2
c c
MarshallVL2122 Rcrv
MarshallVL2122 Rcrv
Removable Hard Drive
Cabinet, BreakerPanel, and 120 VoltOutlet Supplied byUniversity. Cabinetto be installed bycontractor.Conctractor willmake 120 voltconnection frompower distributioncabinet to the maincontroller circuitbreaker and theinternal 120 Voutlet.
Design Detail: Intersection Cabling
3" Conduit
RE1
Cable Distribution Along Southbound Leg
R1
R6
RE2RE3
RE4RE5
RE6
RE7
R7
SE2
SE1
V1
CS
AH
9
Note: This camera masthouses Extron video signalamplifier. Thus, dual cable
runs.
CABLE COUNTEleven EthernetFour VideoOne Power
Handhole
V2V3
V2
3"Conduit
Hwy52
3"
Co
nd
uit
3"
Co
nd
uit
V4
3"
Co
nd
uit
Handhole
CE1
R5R4R3R2
3"
Co
nd
uit
RE
1
RE
2
V5CE2
V1
RE
3R
E4
RE
5R
E6
RE
7S
E1
SE
2
CE
2
CE
1
V5
V4
V3
HandholesHandhole
3" Conduit 3"Conduit
V2
RE
1
RE
2
RE
3R
E4
RE
5R
E6
RE
7S
E1
SE
2
CE
2
CE
1
V5
V4V3
Handhole
4-Twisted Pair, Plenum Cat 5 Cablein 1in schedule 80 non-metal conduitunless specified otherwise
Dual Lead, common ground RG 6 cablein 1in schedule 80 conduit unlessotherwise specified
Legend
Camera Mast/Base
Radar / Laser Cabinet
ONE 3-Conductor, 4/0 gage THWN CuCable, with separate ground wire in3in non-metal schedule 80 conduit
ONE 3-Conductor, 3/0 gage THWN CuCable, with separate ground wire in 3innon-metal schedule 80 conduit.
Handholes per Mn/DOT StandardPlate 8114A
3" Conduit
Design Detail: Intersection Cabling
Cable Distribution Along Northbound Leg
SE
4
CS
AH
9
RE8
V6
RE14RE13
CE
3
CABLE COUNTEleven EthernetFour VideoOne Power
ControlCabinet(334)
PhoneConnection
ElectricMeter
From Transformer
PowerServiceCabinet
(L2)
Hwy52
3"
Co
nd
uit
3"
Co
nd
uit
R8R10 R9
RE9RE10
R11R12
RE11
RE12
Handholes
3" Conduit 3"Conduit
V2
RE
1
RE
2
RE
3R
E4
RE
5R
E6
RE
7S
E1
SE
2
CE
2
CE
1
V5
V4V3
3" Conduit
V2
3"Conduit
RE
1
RE
2
RE
3R
E4
RE
5R
E6
RE
7S
E1
SE
2
CE
2
CE
1
V5
V4
V3
V8
3"
Co
nd
uit
S3
S4
R14 R13
3"
Co
nd
uit
SE
3V
7
HandholesCE4
4-Twisted Pair, Plenum Cat 5 Cablein 1in schedule 80 non-metal conduitunless specified otherwise
Dual Lead, common ground RG 6 cablein 1in schedule 80 conduit unlessotherwise specified
Legend
Camera Mast/Base
Radar / Laser Cabinet
ONE 3-Conductor, 4/0 gage THWN CuCable, with separate ground wire in3in non-metal schedule 80 conduit
ONE 3-Conductor, 3/0 gage THWN CuCable, with separate ground wire in 3innon-metal schedule 80 conduit.
Handholes per Mn/DOT StandardPlate 8114A
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
Intersection Build Details – costs (Don’t Panic!)
•Radar Stations •Vehicle Classification Stations•Vision Systems•Central Cabinet•Ethernet and Video Cable
$191,837
Partner State Research Intersections
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
States’ Savings: $84 K, making investment $207,000Power and Data costs approximately $150/mo
Schedule Adherence
TODAYIntersection Brought On-lineHuman Factors Simulator DII Testing BeginsFinal Report Preparation Begins
Questions? Comments? Problems?
Field Trip!