+-----------------------------------------------------------------------+
| CICAS Workshop December 9, 2004                                       |
|                                                                       |
| Appendix A2                                                           |
+-----------------------------------------------------------------------+
| Breakout Session #1                                                   |
+-----------------------------------------------------------------------+
| Vision                                                                |
+-----------------------------------------------------------------------+

Note: These notes record remarks made in six breakout groups without
indicating the amount of consensus regarding the remarks either within
or among the different groups.

+------+---------------+---------------+---------------+---------------+
|      | **Signal      | **Stop Sign   | **Stop Sign   | **LTAP-OD**   |
|      | Violation**   | Violation**   | Assist**      |               |
+======+===============+===============+===============+===============+
| *    | Reduce        |               | Provide       | Provide       |
| *Obj | crashes due   |               | assistance to | assistance to |
| ecti | to signal     |               | the driver to | drivers to    |
| ve** | violation.    |               | safely move   | safely        |
|      |               |               | through a     | execute a     |
|      |               |               | st            | left turn.    |
|      |               |               | op-controlled |               |
|      |               |               | intersection  | Provide gap   |
|      |               |               | (2-way)       | assistance    |
|      |               |               |               | information   |
|      |               |               | Provide       | to driver     |
|      |               |               | information   | that leads to |
|      |               |               | on safe       | safe and      |
|      |               |               | maneuver at   | effective     |
|      |               |               | stop signs    | left turns at |
|      |               |               |               | signal        |
|      |               |               |               | i             |
|      |               |               |               | ntersections. |
+------+---------------+---------------+---------------+---------------+
| **Vi | Concept 3:    | Concept 3     | Concept 5     | Concept 5:    |
| sion | I             | with          | with          | deployable    |
| in   | nfrastructure | i             | deployable    | (i.e.,        |
| t    | and Vehicle   | nfrastructure | infras        | post-FOT) by  |
| erms | Cooperative - | display: DVI  | tructure-only | 2015+         |
| of   | Concept 1 is  | and DII  to  | on the        |               |
| CAMP | on the        | get us going  | evolutionary  | Concept 1    |
| mod  | development   | with the      | path          | Concept 5    |
| el** | path (e.g.    | states and    |               | Concept 6     |
|      | "Tool" Path); | then proceed  |               |               |
|      | some          | to develop    |               | With          |
|      | liability     | Concept 5     |               | i             |
|      | concerns with |               |               | nfrastructure |
|      | deploying     |               |               | s             |
|      | Concept 2     |               |               | ignage/hybrid |
|      |               |               |               | Concept 6     |
|      | Concept 3  6 |               |               | with V2V      |
|      | for simple    |               |               | w/Radar       |
|      | signal        |               |               |               |
|      | violation;    |               |               | Concept 1     |
|      | Concept 5 is  |               |               | through       |
|      | overkill, but |               |               | modified      |
|      | Concept 6     |               |               | Concept 4 +   |
|      | gives ability |               |               | DII (DVI by   |
|      | to warn the   |               |               | 2012)         |
|      | victim        |               |               |               |
|      |               |               |               | Two-way       |
|      |               |               |               | information   |
|      |               |               |               | flows between |
|      |               |               |               | vehicles and  |
|      |               |               |               | in            |
|      |               |               |               | frastructure. |
+------+---------------+---------------+---------------+---------------+
| **   | Infrast       | Two           |               | DSRC included |
| Evol | ructure-based | alternatives  |               | with          |
| utio | moving toward | for a         |               | i             |
| nary | cooperative.  | vehicle-i     |               | nfrastructure |
| path | Will work     | nfrastructure |               | signage       |
| d    | first without | cooperative   |               |               |
| escr | the vehicle.  | system: (1)   |               | Evolutionary  |
| ipti | Two-stage     | I             |               | path begins   |
| on** | de            | nfrastructure |               | with          |
|      | cision-making | uses RFID to  |               | Intersection  |
|      | process/line  | provide       |               | Decision      |
|      | of sight.     | location      |               | Support (IDS) |
|      |               | references    |               |               |
|      | Deployable    | and distance  |               | LTAP/OD       |
|      | for :         | information   |               | system will   |
|      |               | for           |               | vary          |
|      | -Simple       | in-vehicle    |               | depending on  |
|      | intersections | processing    |               | presence of   |
|      | less than 10  | vs. (2) DSRC  |               | stop sign or  |
|      | years.        | with map      |               | signal        |
|      |               | broadcast     |               |               |
|      | -Complex      | (more         |               | State         |
|      | intersections | capable, more |               | map-formed in |
|      | 10-15 years.  | expensive);   |               | vehicle with  |
|      |               | need to       |               | Concept 6,    |
|      |               | perform       |               | formed in     |
|      |               | trade-off     |               | i             |
|      |               | study of the  |               | nfrastructure |
|      |               | two           |               | with Concept  |
|      |               | alternatives. |               | 5             |
|      |               | These are     |               |               |
|      |               | deployable in |               | Signage --    |
|      |               | less than 10  |               | both          |
|      |               | years.        |               | in-vehicle    |
|      |               |               |               | and in        |
|      |               | Can reach a   |               | i             |
|      |               | \"Warning     |               | nfrastructure |
|      |               | Only\" system |               |               |
|      |               | by 2009. Will |               | Vehicle       |
|      |               | need to make  |               | capability    |
|      |               | a policy      |               | important     |
|      |               | decision      |               |               |
|      |               | between the   |               | Turn signal,  |
|      |               | system\'s     |               | route planned |
|      |               | delivering a  |               | with a        |
|      |               | warning or a  |               | navigation    |
|      |               | violation.    |               | system - need |
|      |               | Power will    |               | to understand |
|      |               | need to be at |               | driver intent |
|      |               | the           |               |               |
|      |               | intersection, |               |               |
|      |               | although the  |               |               |
|      |               | RSU does not  |               |               |
|      |               | have to be at |               |               |
|      |               | the stop      |               |               |
|      |               | sign. One RSU |               |               |
|      |               | can transmit  |               |               |
|      |               | information   |               |               |
|      |               | for many stop |               |               |
|      |               | signs.        |               |               |
|      |               | Assumes use   |               |               |
|      |               | of DSRC. Is a |               |               |
|      |               | vehicle-only  |               |               |
|      |               | system        |               |               |
|      |               | possible?     |               |               |
|      |               |               |               |               |
|      |               | RSU transmits |               |               |
|      |               | map including |               |               |
|      |               | the stop      |               |               |
|      |               | sign. An      |               |               |
|      |               | alternative   |               |               |
|      |               | view is for a |               |               |
|      |               | vehicle-based |               |               |
|      |               | system where  |               |               |
|      |               | the location  |               |               |
|      |               | of the stop   |               |               |
|      |               | bar is sent   |               |               |
|      |               | to the        |               |               |
|      |               | vehicle.      |               |               |
|      |               | Questions     |               |               |
|      |               | raised        |               |               |
|      |               | included: can |               |               |
|      |               | the RSU       |               |               |
|      |               | support high  |               |               |
|      |               | traffic? What |               |               |
|      |               | is the        |               |               |
|      |               | availability  |               |               |
|      |               | of            |               |               |
|      |               | intersection  |               |               |
|      |               | maps?         |               |               |
+------+---------------+---------------+---------------+---------------+
|      |               |               |               |               |
+------+---------------+---------------+---------------+---------------+
|      |               |               |               |               |
+------+---------------+---------------+---------------+---------------+
| **Ch | Pedestrians   | Relatively    | Driver        | Understanding |
| alle | are a problem | easy to do    | behavior with | driver        |
| nges | here          |               | regard to gap | behavior      |
| /Obs |               |               | acceptance    | differences   |
| tacl | Need          |               |               |               |
| es** | quantifiable  |               | Driver intent | Pedestrian    |
|      | performance   |               | (Left, Right, | detectio      |
|      | goals to make |               | Traverse)     | n/integration |
|      | deployment    |               |               | in system;    |
|      | decisions     |               | Poor          | needs to be   |
|      | (safety,      |               | intersection  | in state map. |
|      | driver        |               | geometry must |               |
|      | acceptance)   |               | be fixed      | Driver intent |
|      |               |               | prior to      | (no protected |
|      | Increase in   |               | CICAS         | left)         |
|      | rear-end      |               |               |               |
|      | crashes?      |               | Expensive!    | Intersection  |
|      |               |               | Who pays?     | geometry      |
|      | By 2006, need |               |               |               |
|      | a model-based |               | Power to run  | Human Factors |
|      | estimate of   |               | i             | research      |
|      | benefits.     |               | nfrastructure | needs for     |
|      | Need benefit  |               | system        | DII/DVI       |
|      | estimates     |               | components.   |               |
|      | from FOT by   |               | Cost? Who     | Interface     |
|      | 2009.         |               | pays?         | with traffic  |
|      |               |               |               | control       |
|      | Driver        |               |               | systems       |
|      | training? How |               |               |               |
|      | is warning    |               |               | Utility of    |
|      | system        |               |               | specified     |
|      | transmitted?  |               |               | system        |
|      |               |               |               |               |
|      | Standards and |               |               | Hard to       |
|      | validation    |               |               | leverage      |
|      |               |               |               | existing      |
|      | System        |               |               | sensors for   |
|      | deployment    |               |               | i             |
|      | vs. system    |               |               | nfrastructure |
|      | malfunction   |               |               | sensing       |
|      |               |               |               |               |
|      | How do        |               |               | Liability     |
|      | drivers know  |               |               |               |
|      | if            |               |               | Warning must  |
|      | intersection  |               |               | be credible   |
|      | is equipped?  |               |               |               |
|      | Or broken?    |               |               | Consistency   |
|      |               |               |               | of warning    |
|      | No data vs.   |               |               | when          |
|      | bad data vs.  |               |               | delivered by  |
|      | broken system |               |               | both vehicle  |
|      |               |               |               | and           |
|      | Driver        |               |               | i             |
|      | adaptation to |               |               | nfrastructure |
|      | system (Needs |               |               |               |
|      | to be in the  |               |               |               |
|      | evaluation)   |               |               |               |
|      |               |               |               |               |
|      | Overlay of    |               |               |               |
|      | CICAS         |               |               |               |
|      | information   |               |               |               |
|      | on signal     |               |               |               |
|      | data          |               |               |               |
|      |               |               |               |               |
|      | Protected     |               |               |               |
|      | left turns    |               |               |               |
|      | vs.           |               |               |               |
|      | n             |               |               |               |
|      | on-protected. |               |               |               |
|      |               |               |               |               |
|      | U             |               |               |               |
|      | rban/suburban |               |               |               |
|      | intersections |               |               |               |
|      | present       |               |               |               |
|      | bigger system |               |               |               |
|      | challenges    |               |               |               |
|      | and bigger    |               |               |               |
|      | human factors |               |               |               |
|      | issues.       |               |               |               |
+------+---------------+---------------+---------------+---------------+
|      |               |               |               |               |
+------+---------------+---------------+---------------+---------------+
| **Co | Will people   |               | One breakout  | One breakout  |
| mmen | become        |               | group changed | group changed |
| ts** | complacent    |               | problem area  | problem area  |
|      | with the      |               | title to Stop | title to      |
|      | capabilities  |               | Sign Gap      | LTAP/OP for   |
|      | of the        |               | Assist        | Signalized    |
|      | system, in    |               |               | I             |
|      | particular    |               | Deployable in | ntersections. |
|      | from the      |               | rural areas   |               |
|      | ability to    |               | less than 10  | LTAP/OD is    |
|      | warn the      |               | years.        | more complex  |
|      | victim?       |               |               | issue than    |
|      |               |               | V2I (Vehicle  | 2-way stop    |
|      |               |               | Ch            | sign gap      |
|      |               |               | aracteristics | assist        |
|      |               |               | transmitted   |               |
|      |               |               | to the        | Need lots of  |
|      |               |               | in            | research      |
|      |               |               | frastructure) |               |
|      |               |               |               |               |
|      |               |               | This          |               |
|      |               |               | c             |               |
|      |               |               | ountermeasure |               |
|      |               |               | is likely to  |               |
|      |               |               | succeed       |               |
+------+---------------+---------------+---------------+---------------+
|      |               |               |               |               |
+------+---------------+---------------+---------------+---------------+

+-----------------------------------------------------------------------+
| Breakout Session #1                                                   |
|                                                                       |
| Evolutionary Path by CICAS Component                                  |
+-----------------------------------------------------------------------+

  ---------------------------------------------------------------------------------------------------------------------
  **Signal Violation**     **What do we    **What do we  **Are there       **What do we think we can     **Comments**
                           have now in     want the      additional        achieve by 2009 /             
                           2005?**         system to     technological     pre-deployment?**             
                                           look like by  advances that we                                
                                           2006 / the    want to target by                               
                                           VII proof of  mid-2007 for the                                
                                           concept       VII field                                       
                                           demo?**       operational                                     
                                                         test?**                                         
  ------------------------ --------------- ------------- ----------------- ----------------------------- --------------
  Sensors                  In-vehicle      Sensors -     Radar/video for   Prototype WHICHLANE           One group felt
                           sensors\        reliable,     Concept 1 should  capability in-vehicle for FOT that testing
                           Positioning for robust, and   be ready.\        only (not deployable).\       vehicle
                           WHICHROAD       demonstrate   \                 \                             systems in a
                           algorithm\      minimal level Driver gaze       RFID readers (range issue);   controlled
                           Do NOT have     of accuracy   direction sensor\ non-traditional radar has to  situation -
                           Concept 1       in good       \                 work using infrastructure     perhaps using
                           roadway,        conditions.   Completed testing alone - millimeter wave       some regular
                           in-pavement                   to prove          filtering vector              drivers -
                           sensors\                      reliability under classification                would serve
                           \                             adverse                                         testing needs
                           Know where                    conditions, and                                 in 2009.
                           driver is                     ability to                                      
                           looking\                      maintain accuracy                               
                           Know vehicle                  (varying                                        
                           kinematic                     environmental                                   
                           state,                        conditions,                                     
                           including                     tracking trucks,                                
                           deceleration,                 motorcycles,                                    
                           speed,                        etc.)                                           
                           location\                                                                     
                           \                                                                             
                           Have radar, but                                                               
                           must begin                                                                    
                           sensor research                                                               

  Communication/Data       Prototype DSRC\ Tested driver DSRC              Vehicle  infrastructure      
                           Need message    interfaces                      communication of\             
                           sets and                                        -vehicle classification\      
                           algorithms                                      -acceleration/deceleration\   
                                                                           -driver proficiency (age,     
                                                                           aggress)\                     
                                                                           \                             
                                                                           Infrastructure  vehicle      
                                                                           communication of\             
                                                                           -positioning where stop sign  
                                                                           is\                           
                                                                           -state map\                   
                                                                           -other activities in          
                                                                           environment\                  
                                                                           -differential correction\     
                                                                           -carrier-based correction.    

  Driver Interface         Research still  Both roadside Should be ready   Predictable driver responses. How to
                           needed on DVI   and vehicle   for FOT on DVI                                  coordinate DVI
                           and DII for                   and DII\                                        and DII?
                           message and                   \                                               
                           timing.                       Recommendations                                 
                                                         for modality of                                 
                                                         in-vehicle                                      
                                                         interface\                                      
                                                         \                                               
                                                         Simulations                                     
                                                         funding ASAP                                    

  Processing/controllers   Signal                        Infrastructure    Advanced traffic controller   Research
                           controllers -                 processor -       capability that will probably question: Do
                           can conduct an                choose platform   not be commercially available you warn both
                           FOT now. (e.g.,                                 (but is deployable)\          victim and
                           Signal                                          \                             violator?
                           Sniffer)\                                       Decision-making on            
                           \                                               infrastructure to provide     
                           Calculations                                    information to all vehicles.\ 
                           for a safe gap,                                 Some decision-making on       
                           but not                                         equipped vehicles.            
                           adjusted for                                                                  
                           different                                                                     
                           drivers.                                                                      

  Other                                                                                                  
  ---------------------------------------------------------------------------------------------------------------------

  -----------------------------------------------------------------------------------------------------
  **Stop Sign Violation**  **What do we **What do we **Are there     **What do we think  **Comments**
                           have now in  want the     additional      we can achieve by   
                           2005?**      system to    technological   2009 /              
                                        look like by advances that   pre-deployment?**   
                                        2006 / the   we want to                          
                                        VII proof of target by                           
                                        concept      mid-2007 for                        
                                        demo?**      the VII field                       
                                                     operational                         
                                                     test?**                             
  ------------------------ ------------ ------------ --------------- ------------------- --------------
  Sensors                  Sensors on                FOT by 2007 for                     
                           vehicles -                system                              
                           Exp. Maps;                alternatives                        
                           CAN bus                   proposed by one                     
                           data\                     group (RFID vs.                     
                           Sensors on                DSRC).                              
                           roadway -                                                     
                           None                                                          

  Communication/Data                                 FOT by 2007 for                     
                                                     system                              
                                                     alternatives                        
                                                     proposed by one                     
                                                     group (RFID vs.                     
                                                     DSRC).                              

  Driver Interface                                   FOT by 2007 for                     
                                                     system                              
                                                     alternatives                        
                                                     proposed by one                     
                                                     group (RFID vs.                     
                                                     DSRC).                              

  Processing/controllers                             FOT by 2007 for                     
                                                     system                              
                                                     alternatives                        
                                                     proposed by one                     
                                                     group (RFID vs.                     
                                                     DSRC).                              

  Other                                                                                  
  -----------------------------------------------------------------------------------------------------

  -------------------------------------------------------------------------------------------------------------------------------------------
  **Stop Sign Assist**     **What do we have now in **What do we want the    **Are there additional   **What do we think we    **Comments**
                           2005?**                  system to look like by   technological advances   can achieve by 2009 /    
                                                    2006 / the VII proof of  that we want to target   pre-deployment?**        
                                                    concept demo?**          by mid-2007 for the VII                           
                                                                             field operational                                 
                                                                             test?**                                           
  ------------------------ ------------------------ ------------------------ ------------------------ ------------------------ --------------
  Sensors                  Sensors on vehicle -     Cooperative              Can run FOT in rural     Cooperative              
                           None\                                             area (no pedestrians)                             
                           Sensors on roadway - Yes                          with cooperative V2I                              
                           (loops)\                                          communication (vehicle                            
                           Positioning - Radar,                              characteristics)\                                 
                           Lidar                                             \                                                 
                                                                             Cooperative                                       

  Communication/Data                                                         Cooperative              Cooperative              

  Driver Interface         Vehicle/infrastructure   Vehicle/infrastructure   Vehicle/infrastructure   Vehicle/infrastructure   

  Processing/controllers                                                     Infrastructure (basic)   Cooperative (high level  
                                                                                                      of data detail)          

  Other                                                                                                                        
  -------------------------------------------------------------------------------------------------------------------------------------------

  ------------------------------------------------------------------------------------------------------------------------------------------------
  **LTAP/OD**              **What do we have now in   **What do we want the     **Are there additional    **What do we think we can **Comments**
                           2005?**                    system to look like by    technological advances    achieve by 2009 /         
                                                      2006 / the VII proof of   that we want to target by pre-deployment?**         
                                                      concept demo?**           mid-2007 for the VII                                
                                                                                field operational test?**                           
  ------------------------ -------------------------- ------------------------- ------------------------- ------------------------- --------------
  Sensors                  Sensors on vehicles - need Infrastructure\           Could get positioning     Prototype WHICHLANE, but  Will not have
                           WHICHLANE algorithm.\      \                         from infrastructure for a not deployable.\          production
                           Sensors on                 Infrastructure- traffic   FOT.\                     \                         ready
                           infrastructure - need      controllers that transmit \                         Cooperative\              deployable
                           WHICHLANE algorithm\       current phase status      Cooperative\              \                         system by
                           Need more research on                                \                         \*Local road condition    2009.
                           alternative position                                 Distinguish type of       sensors\                  
                           systems.\                                            vehicle and volume of     \*Vehicle kinematics      
                           GPS, DGPS at intersection\                           road users - estimates\   (including type of        
                           Infrastructure - Radar,                              \                         vehicle, speed, change in 
                           Lidar,\                                              -Better pedestrian        velocity, brake, turn     
                           visioning Radar (can                                 sensing,\                 signal, vehicle throttle  
                           provide presence and speed                           -GPS, positioning         pressure, etc.)\          
                           of vehicle)                                          lane-level with           \*Infrastructure -        
                                                                                infrastructure correction position, detects         
                                                                                transmitted to the        non-vehicles\             
                                                                                vehicle                   \*Positioning, vehicle    

  Communication/Data       Infrastructure\            DSRC Frame\               Common mini-structure     Vehicle position,         
                           \                          \                         message set\              kinematics V2I\           
                           DGPS data is limited.      Phase status communicated Warning predictive phase  Infrastructure-signal     
                           Intersection state map\    to vehicle                status                    phase information,        
                           Geometric Map\                                                                 warning.                  
                           \                                                                                                        
                           Range, speed, heading -                                                                                  
                           V2V message set                                                                                          

  Driver Interface         Infrastructure/Roadside\   Vehicle/infrastructure\   Vehicle/infrastructure\   Vehicle/infrastructure\   Driver
                           Non-MUTCD compliant DII    Downsizing for in-vehicle In-vehicle\               \                         Behavior
                           Concepts                   signage                   Improved DII - test in    Integrated DVI Across     Issues:\
                                                                                closed course             safety systems (create    - What is
                                                                                                          guidelines)               normal
                                                                                                                                    behavior?\
                                                                                                                                    - How will
                                                                                                                                    drivers
                                                                                                                                    respond?\
                                                                                                                                    - Relationship
                                                                                                                                    of age?\
                                                                                                                                    - False alarm
                                                                                                                                    rate?\
                                                                                                                                    - Driving
                                                                                                                                    style?\
                                                                                                                                    - Behavioral
                                                                                                                                    adaptation?\
                                                                                                                                    \
                                                                                                                                    Need a LOT
                                                                                                                                    more research.

  Processing/controllers   Infrastructure (loops)\                              Estimate acceleration of  Progression to            Has to be
                           Signals - look for gaps\                             vehicle\                  in-vehicle, but do not    integrated
                           Maps (positioning)\                                  Vehicle prototype\        give up infrastructure\   with signal
                           Experimental -                                       Infrastructure prototype\ \                         violation
                           Infrastructure                                       NCHRP 3-66 completed      Infrastructure provides   warning.
                                                                                (advanced signals)        decision to vehicle\      
                                                                                                          Vehicle decides whether   
                                                                                                          to use infrastructure     
                                                                                                          decision                  

  Other                                               Software validation\      Straw man approach        Process for developing    New category:
                                                      Naturalistic data overlay                           geometric maps of         Timing of
                                                                                                          intersection              warning
  ------------------------------------------------------------------------------------------------------------------------------------------------