reducing the cost of evaluating cyber-physical ...its.ualberta.ca/presentations/joseph-chow.pdf ·...
TRANSCRIPT
Reducing the cost of evaluating
cyber-physical transportation
systemsJoseph Chow, Ph.D., P.E.Canada Research Chair in Transportation Systems EngineeringRyerson UniversityToronto, ON, Canada
Western Canada Connected Vehicle Workshop, Apr 14, 2015
Context
• Cyber-physical systems (CPS): (from Wikipedia) “a system of collaborating computationalelements controlling physical entities”
• Examples in transportation?
▫ Connected vehicles
▫ Autonomous vehicles
▫ Internet of Things
▫ Smart Cities
▫ …
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Technology enabled by CPS?
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a b c
d e
(a) UberX, (b) Kutsuplus, (c) Toronto Bike-share, (d) ZEV-NET, (e) UK pilot AV fleet
How to evaluate CPS-based intelligent
transportation system designs?
• E.g.
▫ algorithm 1 vs algorithm 2?
▫ data structure 1 vs data structure 2?
▫ process flow 1 vs process flow 2?
▫ operating policy 1 vs operating policy 2?
▫ user demographic 1 vs user demographic 2?
▫ coalition 1 vs coalition 2?
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ITS evaluation
System design
Computer simulation or model
“in-situ” prototype
Deployment
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The gap from one to the next may be WIDE
How expensive?
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Technology Costs Technology Costs
Automated vehicle identification
equipment/system
$42K-$84K Information service provider software $273K-
$547K
Automatic passenger counting system $830-$8.3K Integration for auto, scheduling, run
cutting, or fare payment
$224K-
$498K
Autonomous tracking unit $290-$700 Intersection inductive loops $7.5K-
$13.3K
Cargo monitoring sensors and gauges $110-$230 Lane control gates $66K-$100K
CCTV video camera $8K-$16K LED countdown signal $261-$361
Cell-based communication equipment $140-$240 Mainline (high speed) weigh-in-
motion scale
$50.9K-
$212.3K
Communications interface (emergency
vehicle)
$300-$2K Parking monitoring system $16K-$35K
Corridor inductive loops $2K-$6K Pedestrian detection – microwave $500
Database and software for billing and
pricing
$10K-$15K Portable traffic management system $66K-$83K
Driver and vehicle safety sensors,
software
$700-$1.5K Pre-emption/priority transponder $60
Dynamic message sign $41K-
$101K
Rail crossing train detector $11K-$14K
Dynamic message sign – portable $16K-$21K Ramp meter $21K-$42K
Electronic cargo seal disposable $8-$21 Remote traffic microwave sensor on
corridor
$8K-$11K
Electronic cargo seal reusable $29-$36 Security package (transit vehicle) $3.3K-$6K
Electronic cargo seal reader $200-$1.2K Signal controller and cabinet $7K-$12K
Electronic fare box $500-$1K Signal pre-emption processor $200-$400
Electronic toll reader $2K-$4K Signal pre-emption/priority emitter $400-$1.8K
Environmental sensor station (weather) $25K-$42K Software for lane control $25K-$50K
Fixed lane signal $4K-$5K Software for tracking and scheduling $10K-$34K
GPS for vehicle location $400-$2K Tag readers $1K-$3K
High-speed camera $6K-$8K Transit status information sign $4K-$8K
Highway advisory radio $15K-$36K Trip computer and processor $100-$110
Informational kiosk $9K-$20K Vehicle location interface $10K-$15K
Information service provider hardware $18K-$27K
Cost estimates from RITA (2011)
Standardization
may help…
Service Bundles
Traveller Information
Traffic Management
Public Transportation Management
Electronic Payment
Commercial Vehicle Operations
Emergency Management
Advanced Vehicle Safety Systems
Information Management
Maintenance and Construction Management
Logical Architecture Processes
1-Manage Traffic
2-Manage Commercial Vehicles
3-Provide Vehicle Monitoring and Control
4-Manage Transit
5-Manage Emergency Services
6-Provide Driver and Traveller Services
7-Provide Electronic Payment Services
8-Manage Archived Data
9-Manage Maintenance and Construction
Physical Architecture Subsystems (1)
Archived Data Management Subsystem
Border Inspection Administration
Border Inspection Systems
Commercial Vehicle Administration
Commercial Vehicle Check
Commercial Vehicle Subsystem
Emergency Management
Emergency Vehicle Subsystem
Emissions Management
Fleet and Freight Management
Information Service Provider
Intermodal Freight Equipment
Physical Architecture Subsystems (2)
Maintenance and Construction Management
Maintenance and Construction Vehicle
Parking Management
Personal Information Access
Remote Traveller Support
Roadway Subsystem
Security Monitoring Subsystem
Toll Administration
Toll Collection
Traffic Management
Transit Management
Transit Vehicle Subsystem
Vehicle
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Canadian ITS Architecture ver. 2.0
… But past lessons suggest evaluation
process needs evaluating
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User
Services
Real World
Situations
System
Context
Logical
Architecture
Physical
Architecture
Cost-Benefit
Analysis
Evaluation
Study
Existing paradigm (Liu et al., 2005)
Liu, H., Zhang, K., Wang, X., Qi, T., Wang, C., 2005. Effective and sustainable development of Chinese National Intelligent Transportation System Architecture. Transportation Research Record 1910, 46-56.
A “surrogate system”? (Harvey et al.)
• Using cheap technologies that can mimic actual CPS technologies (algorithms, sensors, communications, functions) to compare alternative designs on the field (“in-situ”)
• E.g. mimicking (with central facility and tablets):
▫ Dispatch algorithms
▫ Surveillance and monitoring data
▫ Location and route-finding algorithms
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Harvey, M.J., Liu, X., Chan, A., Chow, J.Y.J., A tablet-based surrogate system for “in-situ” evaluation of cyber-physical transport technologies.
Integrating surrogate systems in ITS
deployment
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User
Services
Real World
Situations
System
Context
Logical
Architecture
Physical
Architecture
Cost-Benefit
Analysis
ITS
Evaluation
Surrogate
System
Evaluation
Study
Changes needed
Computer simulation or model
“in-situ” prototype
Computer simulation or model
+“in-situ” prototype
Ryerson Urban Transportation Lab• Designed to operate surrogate systems
▫ 8-screen video wall, 30 Google Nexus tablets, 6 workstations, traffic simulation and proprietary activity-based GIS
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Mimicking different agents: travelers, vehicles, central facilities
Developed: GIS interface, tablet communications and tracking
Experiments on campus support feasibility of such tools
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Online repository for sharing open-
source surrogate systems
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Ongoing NSERC Engage/OCE Project
• “Development of mobile device-based surrogate systems for connected and autonomous vehicle technologies”
• Expanding capabilities of industry partner Transnomis (systems integrator, traffic data provider)▫ Mobile device platform▫ Decentralized traffic forecasting in connected vehicle environment▫ Cooperative route guidance for autonomous fleets▫ New business case: surrogate systems to evaluate CPS-based ITS
• Evaluate algorithms▫ Develop algorithms to operate on tablet platform▫ Validate algorithms with real time bus and TomTom data▫ Conduct field tests as “surrogate systems” to compare designs
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Future research: field test dynamic
fleet pricing and routing policies
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New arrivalNew
arrival
Existing
pickup
Existing
drop-off
Veh. 2
Being
served
Waiting
to be
served
Veh. 1 Veh. 3
Veh. 2Veh. 1 Veh. 3
μλ
• Which vehicle to dispatch to passenger?• Which routes to take?• Where to position idle vehicles?• How much to charge passengers?• …
Simulation vs field testing
Simulation (Sayarshad & Chow)Field tests – compare against other operating policies
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-2
-1
0
1
2
3
4
5
-5 -3 -1 1 3 5
V1 V2 Origins Destinations
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Sayarshad, H.R., Chow, J.Y.J., A scalable non-myopic dynamic dial-a-ride and pricing problem.
Ongoing NSERC Engage project with
Metrolinx to evaluate their pilot study
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http://metronews.ca/news/toronto/1316946/private-public-transit-metrolinx-wants-to-pick-you-up-and-drive-you-to-your-go-station/#
Partnered with RideCo
Surrogate systems + fleet operations
• Field test dynamic operating policies
• Design cooperative autonomous fleet service
• Benefits of CV/AV extended to transit and freight
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Summary
• CPS-based technologies difficult to evaluate due to wide gap from simulation to prototyping
• Surrogate systems may speed deployment• Ryerson Urban Transportation Lab working
with industry and local agencies on CV/AV applications
• Vision: to operate “smarter” mobility systems
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NEW BUSINESS CASES for widespread industry adoption:
a) development of surrogate systemsb) conducting field tests with surrogate systems
• Acknowledgements:▫ Those of my research group involved:
Postdoc: Dr. Xintao Liu PHD students: Hamid Sayarshad, Shadi Djavadian MASc students: Matthew Harvey, Ahmed Amer Undergrad RA’s: Alex Chan, Mark Eskander
▫ Funding agencies for this research: CRC, CFI, NSERC, OCE
• References (working papers):▫ Harvey, M.J., Liu, X., Chan, A., Chow, J.Y.J., A tablet-based
surrogate system for “in-situ” evaluation of cyber-physical transport technologies.
▫ Sayarshad, H.R., Chow, J.Y.J., A scalable non-myopic dynamic dial-a-ride and pricing problem.
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THANK YOU!