STEER Public Interest Wireless

Smart Transport, Energy & Environment Radio systems

Proposal to Mike Miles & Caltrans, July 6, 2009 [*]

- Warren Havens, Skybridge Spectrum Foundation (SSF) et. al.
- Raja Sengupta and Jim Misener of UCB & others affiliated
- ESRI is involved in STEER but may not be able to attend
Agenda & Contents
1. SSF Spectrum + Caltrans = basis of Statewide STEER systems.
2. SSF STEER Challenge Grant Offer: Its Cal spectrum+ to, in exchange for Cal State
commitment to: Cal STEER (by public- foundation JV) ... offer to first State adopter.
3. STEERs - What, Why, How… “wake up & steer or crash” . . .
a. Lots of sub-GHz spectrum = KEY – SSF’s + adjacent (sec. 1).
b. High accuracy location (HALO) = further core component – UCB.
c. Dynamic GIS (d-GIS)= further core – ESRI (& -?- ESRI Foundation).
d. STEERs radio tech & equipment: current & future.
4. Stage 1: Serve Caltrans needs now, which are? - question to Caltrans.
5. Stage 2: Pilot projects – need Fed Stimulus & other funding soon: $20-50 million.
6. Stage 3: STEER deployments – nothing stopping nationwide but smart action.
-----
[*] (1) SSF Proposal only by SSF. (2) Core concepts herein largely shared by others noted.
(3) HALO slides by Sengupta & Havens. SSF + PATH have cooperative HALO program.

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 SSF Spectrum + Caltrans = basis of Statewide STEER systems

• Caltrans has STEER’s “physical infrastructure”- (i) antenna sites, rights of way, and
operating capabilities, and (ii) internal and served-public needs; and utilities do also.
• SSF has STEER’s “radio spectrum infrastructure” & can get adjacent spectrum with State:
• ITS-Class M-LMS: 6 MHz secured - 80% of US, most all urban.
– 30 W ERP, any antenna height, for wide-area coverage.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Bought in FCC spectrum auctions. (No, not much used by unlicensed.)

• ITS-Class N-LMS: 14 MHz available - nationwide.

– 30 W ERP, 15 m AGL, for bi-directional along-road coverage &mobile to M-LMS.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Available for wide-area ITS systems with gov agency involvement.
– Also for fixed point-to-point rural connections of HALO base stations.

• 217-222 MHz: 1-3 MHz secured - 80%+ of US, most all rural, some urban.
– 100s W ERP, any antenna height, for very wide rural coverage (“JEEP” spectrum).

• ITS-Class DRSC: 20 -75 MHz available - nationwide.

– In 5.9 GHz. For mobile short-range coverage, for ITS (some 4.9 GHz also).
– High data-rate, high-capacity, Vehicle-to-V, & V-to-Roadside,
but kept connected by above lower-spectrum wider coverage nets.
– Also for fixed point-to-point urban connections of HALO base stations.

2
Radio Spectrum … lower is further & better

DSRC
(5900
MHz)
range is
200 MHz- SSF Rural highly
limited:
it’s less
then 4900
MHz:
900 MHz - SSF Urban DSRC

From Telesaurus (SSF affiliate), by Doug Reudink, Ph.D.

3
STEER – What it is?

Once upon a time . . .

vehicle communications was like this …
digit-ally censored for
the politer audience

4
STEER – What it is ? (cont’d)

… then there was a better way …

in Smart Transport, Energy & Environment Radio systems
like this …

5
| N
Dynamic GIS based – ESRI, see:
http://www.govtech.com/gt/articles/652976?printall
HALO + ITS Communications
W E Same for the expanded: Smart Transport, Energy & Environment Radio

N-RTK

N-RTK

80
+ Inertial

N-RTK

5.9 GHz DSCR N-RTK

Vehicle to-Vehicle to vehicles on
217-222 MHz 902-928 MHz: M-LMS 902- 928 MHz: N-LMS & Vehicle-to-Roadside 200 & 900 MHz

6
 STEER Public Interest Wireless

Smart Transport, Energy & Environment Radio systems

Wireless for a Sustainable World

HALO = Track it – I am exactly here, moving exactly there,
and the system knows same for all of us.
(“I” and “us” = vehicles, pedestrians, shipping containers, etc.).

+ d-GIS = Plot it – By second, I got your position, direction,

status on exact maps with all other moving & static things.
+ 4G Radio* = Connect it – all TEE moving things’ HALO
& status, all time, everywhere. *(Dedicated, critical grade, 2-way.)
= Smart Systems : Manage & protect it – transport, energy,
environment – with precision needed by above.
STEER = Safe, efficient, sustainable, good business

7
 STEER- Dynamic GIS

ESRI, see GovTech article: http://www.govtech.com/gt/articles/652976?printall

“Where do you see your company or GIS in general fitting in with smart grids and
intelligent transportation? How can we actually use GIS to make a tangible improvement
in the way we travel?”
Jack Dangermond, ERSI owner and CEO:
“I see GIS as a foundation platform for smart grid and intelligent
networks, like highway or bus networks.
“It's the information system that really supports all the optimization,
tuning and energy-saving applications that are envisioned….”
“GIS introduces the relationships and patterns…. Imagine when full
GIS capabilities - all the analytics and power - are available to
everyone so they could be more thoughtful and considerate about
what they're doing to the environment…. That will change the way we
operate as a society.
“The GIS revolution that's occurring is no little idea. It's not just another
kind of IT. It's fundamental to the way people act now and will be
[more] that way in the future as it becomes more pervasive, as it
becomes embedded in every device and mobile device. It will help
guide us where to go.

8
 HALO + ITS Communications – some applications*

Public Safety & Core Traffic Flow STEER Partners’ Fleets, Served Private Entities & Other
---------- ----------
VIRTUAL TRACK TRASPORT (VTT)— ADVANCED AVL & Fleet & Workforce routing & logistics
Lateral & Longitudinal Spacing
ACCESS CONTROL
NO ACCIDENTS OR CONGESTION DRIVE-THRU PAYMENT
Stop lights & signs secondary. PARKING LOT PAYMENT
---------- DATA TRANSFER
APPROACHING EMERGENCY VEHICLE INFOFUELING
EMERGENCY VEHICLE SIGNAL PREEMPTION ATIS DATA
VEHICLE BASED PROBE DATA COLLECTION DIAGNOSTIC DATA
TRAFFIC INFORMATION REPAIR-SERVICE RECORD
CURVE SPEED ASSISTANCE VEHICLE COMPUTER PROGRAM UPDATES
STOP LIGHT ASSISTANT – INFRASTRUCTURE MAP and MUSIC DATA UPDATES
INTERSECTION COLLISION WARNING/ VIDEO UPLOADS
COOPERATIVE COLLISION WARNING DATA TRANSFER / CVO / TRUCK STOP
OPTIMAL SPEED ADVISORY ENHANCED ROUTE PLANNING and GUIDANCE
COOPERATIVE VEHICLE SYSTEM RENTAL CAR PROCESSING
RAILROAD COLLISION AVOIDANCE UNIQUE CVO FLEET MANAGEMENT
INFRASTRUCTURE BASED TRAFFIC DATA TRANSFER
VEHICLES AS PROBES TRANSIT VEHICLE (yard)
WORK ZONE WARNING TRANSIT VEHICLE REFUELING MANAGEMENT
ROAD CONDITION WARNING LOCOMOTIVE FUEL MONITORING
ROLLOVER WARNING DATA TRANSFER / LOCOMOTIVE
LOW BRIDGE WARNING
LOCATION BASED PROBE DATA COLLECTION Asset Container tracking
TRANSIT VEHICLE DATA TRANSFER
TRANSIT VEHICLE SIGNAL PRIORITY Maritime, harbor, and rail.
EMERGENCY VEHICLE VIDEO RELAY
MAINLINE SCREENING Special Military & other fleets AVL, logistics, etc.
BORDER CLEARANCE
ON-BOARD SAFETY DATA TRANSFER Emergency Response: many essential applications.
VEHICLE SAFETY INSPECTION
DRIVER’S DAILY LOG Various Web Applications

* Most (but not VTT) from a CALM paper: does not represent many HALO and other advanced ITS wide-area communication applications.

9
STEER - HALO

[Following are slides from an exiting HALO presentation: some redundant to the preceding.]

High Accuracy Location

HALO
Nationwide Systems Project
Representing the HALO Group:

Raja Sengupta - UC Berkeley

Kannan Ramchandran - UC Berkeley
Warren Havens - Skybridge Spectrum Foundation
Contact information on last slide.
The HALO Group website will soon be public.

June 1, 2009

10
HALO - Concept …(slide 1)…
• Make high accuracy location services ubiquitous
by terrestrial GNSS-augmentation infrastructure:
– Start with existing GPS-GNSS + N-RTK + INS,
– Add HALO augmentation in GPS dark areas:
• E.g., pseudolites, AoA along roadways, road
markers, etc.
– HALO will integrate all below, needed for very
wide area very high accuracy systems.

GSP-GNSS +WAAS + N-RTK +INS / Vision HALO

(V%) (W%) (X%) (Y%)

11
GSP-GNSS +WAAS + N-RTK +INS / Vision HALO
(V%) (W%) (X%) (Y%)

12
Commercial E911 needs HALO, also

Vs. E911-- ITS-dedicated wireless needs greater accuracy, reliability, coverage: but it will serve E911 also.

13
Why? - some examples
• Cooperative Vehicle Safety.
• Leverage Rise of Mobile Internet: add HALO:
– Pedestrian & bike safety (watch out for me).
• Accurate maps.
• E-911 outside and inside buildings.
• “Virtual track transport” -
– Guide vehicles laterally & longitudinally on roads and
through intersections:
– Dramatic decreases in accidents, congestion, fuel use,
pollution, emergency response time.
• Back up GPS in attack or failure - insurance.

…“Green by Precision” …“Google in Real Space”

14
HALO - Concept … (slide 2) …
• Make high accuracy location services viable and
ubiquitous by building out:
– HALO augments & integrates GPS-GNSS
+ N-RTK + INS.
– Needed only in “GPS dark areas.”
– Big bang for small buck: new HALO
infrastructure only in GPS dark areas:
• Results in integrated systems that are viable and
highly valuable (without HALO, wide-area high-
accuracy safety-critical apps are not viable).
• HALO will use existing secure utility and
government wireless site infrastructure =
further cost efficiency.

15
HALO – Spectrum … (slide 1) …
• ITS-Class M-LMS: 6 MHz secured - 80% of US, most all urban.
– 30 W ERP, any antenna height, for wide-area coverage.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Bought in FCC spectrum auctions. (No, not much used by unlicensed.)
• ITS-Class N-LMS: 14 MHz available - nationwide.
– 30 W ERP, 15 m AGL, for bi-directional along-road coverage.
– In the 902-928 MHz mobile “Location & Monitoring Service.”
– Available for wide-area ITS systems with gov agency involvement.
– Also for fixed point-to-point rural connections of HALO base stations.
• 217-222 MHz: 1-3 MHz secured - 80%+ of US, most all rural.
– 100s W ERP, any antenna height, for very wide rural coverage.
• ITS-Class DRSC: 20 -75 MHz available - nationwide.
– In 5.9 GHz. For mobile short-range coverage. Available for ITS.
– High data-rate, high-capacity, Vehicle-to-V, & V-to-Roadside,
but kept connected by above lower-spectrum wider coverage nets.
– Also for fixed point-to-point urban connections of HALO base stations.

16
HALO – Spectrum … (slide 2) …

Sprectrum
& colors
here
do not
fully
match
spectrum
& colors
on next
slide.

From www.telesaurus.com, by Doug Reudink, Ph.D.

17
| N
Dynamic GIS based HALO + ITS Communications
W E

N-RTK

N-RTK

80
+ Inertial

N-RTK

5.9 GHz DSCR N-RTK

Vehicle to-Vehicle to vehicles on
217-222 MHz 902-928 MHz: M-LMS 902- 928 MHz: N-LMS & Vehicle-to-Roadside 200 & 900 MHz

18
 HALO - Plan of Action … (slide 1)
• Cost Benefit Analysis: 2009 - 2011
(Clear case exists but CBA useful. Use existing data and iterative projection model.)
– Benefits
• Savings Benefits
– In accidents, congestion & fuel use, pollution & environmental damage, human
health, loss of productive time, vehicle longevity & insurance, quality of life, goods
transport costs, costs of law enforcement &
emergency response, associated indirect costs, etc.
• Increases Benefits
– Basis for green vehicles & roads, smart grid+V2G, custom variable
open road tolling, US competitive advantages & energy independence, etc.
– Costs
• (a) Physical Infrastructure (& software infrastructure: dynamic GIS)
– D-GIS: Structure and cost to start, upgrade, secure: ITS NOC, Fleets, individuals.
– GPS-GNSS: How widespread are dark areas?
– RF Spectra: FCC rules re ERP, antenna heights, operation:
and related density of terrestrial stations, and station technologies.
– Phy Infra & rights: Partner utilities & gov agencies: road & other rights of way and
facilities, and build- operate; and their capacity-use take back: even swap targeted.
• Mobile devices
– Vehicle-installed & Person-borne (in smartphones, etc): each:
– Multi-spectrum, multi-protocol, multi-QoS
– GPS-GNSS, N-RTK, pseudolite, (+road rfid?)
– SDR: software defined radio, (+cognitive radio?)

19
HALO - Plan of Action … (slide 2)

• Pilot & Tests Phase: 2009.5 +, San Fran Bay Area:

– Test d-GIS, SDR radios, HALO spectrum, N-RTK.
– With N-RTK+INS Rovers: map GNSS light &
dark areas in San Maeto Co & project to metro areas.
• HALO Phase 1: 2010 +, Cal & other States:
– Deploy secure private N-RTK on HALO spectrum &
stage-1 d-GIS, with core infrastructure partners.
– Use all spectrum for current-grade wireless also.

• HALO Phase 2: 2015 +, Nationwide:

– On tuned d-GIS, deploy pseudolites, roadside AoA;
get cost effective high-grade INS in vehicles, etc.
– Wide-area HALO achieved.
– Increase major ITS & other HALO Applications.

20
 Slides
with additional
HALO details
follow

21
From:

22
 Enabling Accurate Maps
Yiguang Xuan (UCB) (one method)
10

5 Magnetometer
North + accelerometer

0
Y (meter)

-5

-10

-155th floor map

-10 -5 0 5 10 15
Davis Hall X (meter)

An open map concept: Davis Hall -UCB

Building maps by streaming
data from smartphones:
Needs Geo-referencing
HALO
23
 Research Challenge: GPS bias

GPS and Estimated Paths Comparison

-22

-24 Dynamic
GPS
-26
AR Model
-28
South-North (m)

-30

-32 Actual GPS bias:

GPS shows wrong lane
-34 Needs advanced modeling
-36

-38

-40

-42
Estimator output
70 75 80 85 90 95 100 105 110
East-West (m)

24
Research Challenge: GPS bias
Right turn at intersection

GPS and Estimated Paths Comparison

0
GPS Path
Estimated Path

-50
South-North (m)

-100

-150
Bias during a turn

-200

-250
0 50 100 150 200 250
East-West (m)

25
26
27
Led to Research on Active Safety Systems
targeting the Different Crash Types
• Initial Approach:
Blind-spot – Sensor based
radar • Multiple sensors for
Mid-Range
Backing 360°coverage
Forward Collision Radar
radar – Cost remains significant
Mid-Range
• More Recently:
– Cooperative Active
Safety
– Wireless equipped
vehicles communication
GPS coordinates
– Cheap

28
ITS World Congress, Javits November’08

29
30
 Use an Extended Kalman Filter
2nd Order Bicycle Model

GPS/Vehicle Sensor Integration:

• Wheel Speed Encoder
• GPS (Position, Heading, and Speed)
• Steering angle sensor
• Yaw rate sensor (Fog)

31
Summary: Position Estimation

• The current filter structure has been optimally tuned

– Bicycle model based extended Kalman filter
• Fails when
– GPS goes bad during turns leading to incorrect lane
assignment after turn
– GPS goes bad for long durations (15 sec or more)
• Long: Depends on speed
• Bad GPS during turns or prolonged outages remain a problem
– Urban Intersections
– Urban Canyons
• Bad
– No Satellites: Outage
– Satellites on one side: Bias
• Can this be fixed in urban areas?

32
HALO Group - contacts:
Warren Havens
Skybridge Spectrum Foundation
warren.havens@sbcglobal.net
510.841.2220

Raja Senpupta
University of California, Berkeley
sengupta@ce.berkeley.edu
510.717.0632

33