Project activity by topic

Decide how to do traffic and vehicle simulations

• TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA: Launch page to get started with CARLA

• TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithSUMO: Launch page to get started with SUMO

• TrafficSimulators_GettingStartedWithDifferrentSimulators_GettingStartedWithCARLA-SUMOCosimulation: Launch page to get started with CARLA-SUMO cosimulation (IVSG - PSU internal)

Mapping

About the Mapping Van

• Mapping_MappingVan_About: General information about the Penn State Mapping Van. Mapping van is shown below.

Choice of Coordinate Systems for Wide Areas

• Mapping_CoordinateSystems_WideAreas: Discussion of coordinate systems and the errors each can introduce when mapping large areas (cloned from IVSG on 2023 04 03).The coordinate system conversions through simulation work are as below.

Hardware installation

• Hardware_MappingVanHardware_CADdrawings: The mapping van measurements used for the GPS antenna calibration. Sample CAD drawings are below.

Power System

• Hardware_MappingVanHardware_PowerSystem: Setup of power system (IVSG - PSU internal)

Time Synchonization

• FieldDataCollection_TypicalHardwareSetups_TriggerCameraUsingExternalSignal:Methods to externally trigger FLIR cameras to external trigger signals. (IVSG - PSU internal)

• FieldDataCollection_TypicalHardwareSetups_TimeSync_ArduinoUsingGPSPPS: Producing tight time-trigger pulses (less than 20 microseconds jitter) via Arduinos. (IVSG - PSU internal)

• FieldDataCollection_TypicalHardwareSetups_TimeSyncTriggerBox: CAD models for trigger box. (IVSG - PSU internal)

Sensors - Cameras

• Hardware_MappingVanHardware_Camera: Remounting the cameras to improve regidity, water intrusion, and hardware faults. (IVSG - PSU internal)

• Camera Calibration : Methods used to calibrate the camera system. (IVSG - PSU internal)

Sensors - LIDAR

• Hardware_MappingVanHardware_LiDAR: Documents of LiDAR specs. (IVSG - PSU internal)

• FieldDataCollection_TypicalHardwareSetups_LIDARs_CeptonX90Install: Procedure of installing CeptonX90 LiDAR. (IVSG - PSU internal)

• FieldDataCollection_TypicalHardwareSetups_LIDARs_VelodyneVLP16Install: Procedure of installing VelodyneVLP16 LiDAR. (IVSG - PSU internal)

Sensors - Wheel Encoders

• Hardware_MappingVanHardware_Encoder: Setup of encoders. (IVSG - PSU internal)

Sensors - Radar

• Hardware_MappingVanHardware_Radar: Setup of Radar. (IVSG - PSU internal)

Sensors - GPS

• Hardware_MappingVanHardware_GPS: Setup of GPS. (IVSG - PSU internal)

Sensors - IMU

• Hardware_MappingVanHardware_IMU: Setup of IMU. (IVSG - PSU internal)

Sensors - Steering System

• Hardware_MappingVanHardware_SteeringSystem: Setup of steering system. (IVSG - PSU internal)

Data Parsing

• FieldDataCollection_DataCollectionProcedures_ParseRawDataToDatabase: Parse raw data (.bag) to raw data database. (IVSG - PSU internal)

• FieldDataCollection_DataCollectionProcedures_DataTransferWithDMS:Transfer data to PennDOT DMS. (IVSG - PSU internal)

• FieldDataCollection_DataCollectionProcedures_AutomatingDataTransferToDMSUsingCommandLine: Transfer data to PennDOT DMS using command line tools. (IVSG - PSU internal)

• FieldDataCollection_DataCollectionProcedures_StitchingImagesToVideo:Stitching parsed images into a video. (IVSG - PSU internal)

The data flow of the simulation is below

For zoomed-in view, please see: https://github.com/PAWorkzoneAutomation/PAWorkzoneAutomation.github.io/blob/main/Images/PennDOT_Simulation_Workflow_V2.drawio.png

Simulating construction scenarios

• Simulating a traffic flow on Penn State test track: The work in this area involves information to guide how to simulate a traffic flow on Penn State test track. (IVSG - PSU internal)

• The following tables show the three roadway situations for the simulation: urban, artirial and highway, including the location we picked in State College and the corresponding data link.

Situation 1 Summary

Situations	Urban
City	PA, State College
Location Description	BEAVER AV Between Sparks St and Gill St
Site Number	1134
Data Time	Nov 16, 2016
Peak Time	8AM
Peak Volume (Vehicles/h)	696
Off-peak Time	1PM
Off-peak Volume (Vehicles/h)	368
Link to Real Traffic Data	https://gis.penndot.gov/tire/tms-sites/1134/report

Situation 2 Summary

Situations	Arterial
City	PA, State College
Location Description	COLLEGE AV 0.65 MILE NORTHEAST OF SR-3022
Site Number	1136
Data Time	Nov 16, 2016
Peak Time	5PM
Peak Volume (Vehicles/h)	2374
Off-peak Time	9AM
Off-peak Volume (Vehicles/h)	1212
Link to Real Traffic Data	https://gis.penndot.gov/tire/tms-sites/1136/report

Situation 3 Summary

Situations	Highway
City	PA, State College
Location Description	I-99 1.35 Mile North of Exit 71
Site Number	1180
Data Time	Dec 05, 2017
Peak Time	4PM
Peak Volume (Vehicles/h)	4046
Off-peak Time	9AM
Off-peak Volume (Vehicles/h)	2321
Link to Real Traffic Data	https://gis.penndot.gov/tire/tms-sites/1180/report

• The following table shows the summary about whether the considered three roadway situations could be applied to each of the proposed 20 scenarios.

20 Scenarios - 3 Situations Sumamry

Scenario	Scenario Summary	Urban	Arterial	Highway	Uploaded to DMS
0	ANALYSIS OF VARIANCE	Y	Y	Y	Urban peak volume Urban off-peak volume Arterial peak volume Arterial off-peak volume
1.1	WORK ON OR BEYOND SHOULDER SINGLE LANE APPROACH SHOULDER WORK	Y	Y	Y	Urban peak volume
1.2	ROAD CLOSURE WITH DETOUR STANDARD ORANGE DETOUR SIGN	Y	Y	Y
1.3	WORK ON SINGLE LANE APPROACH SELF-REGULATING LANE SHIFT INTO OPPOSING LANE	N	N	Y
1.4	WORK ON SINGLE LANE APPROACH SELF-REGULATING LANE SHIFT INTO CENTER LEFT-TURN LANE	N	N	Y
1.5	WORK ON A SINGLE-LANE APPROACH WORK IN CENTER LEFT-TURN LANE	Y	Y	N
1.6	WORK ON MULTI-LANE APPROACH WORK IN RIGHT LANE UNDIVIDED HIGHWAY	N	N	Y
2.1	ROAD CLOSURE WITH DETOUR DETOUR OF A NUMBERED TRAFFIC ROUTE	Y	Y	Y
2.2	WORK ON A SINGLE-LANE APPROACH SELF-REGULATING STOP-CONTROL	Y	Y	Y
2.3	LANE SHIFT TO TEMPORARY ROADWAY	Y	Y	Y
2.4	WORK ON SINGLE-LANE APPROACH TRAILOR-MOUNTED SIGNALS	Y	Y	Y
3.1	WORK ON SINGLE-LANE APPROACH MOVING LANE CLOSURE	Y	Y	Y
4.1a	WORK ON 2-LANE APPROACH WORK IN RIGHT LANE	Y	Y	Y
4.1b	WORK ON 2-LANE APPROACH WORK IN RIGHT LANE	N	N	Y
4.2	WORK NEAR INTERCHANGE RAMPS WORK IN RIGHT LANE NEAR EXIT RAMP	N	N	Y
4.3	WORK NEAR INTERCHANGE RAMPS WORK IN ENTRANCE RAMP, STOP CONTROL	N	N	Y
5.1a	WORK ON 2-LANE APPROACH WORK IN RIGHT LANE (MOBILE)	Y	Y	Y
5.1b	WORK ON 2-LANE APPROACH WORK IN RIGHT LANE (MOBILE) (TURNPIKE)	N	N	Y
5.2	WORK ON 3-LANE APPROACH WORK IN LEFT LANE (MOBILE)	Y	Y	Y
6.1	WORK ON 2-LANE APPROACH LONG TERM SHOULDER USE	Y	Y	Y

Simulation post processing

• FeatureExtraction_Association_PointToPointAssociation: Functions are provided to determine matches between data sets of (X,Y) points, store and compare groups of associated points (patch objects), and determine intersections between patch objects and circular arcs (useful for collision detection).

• FeatureExtraction_SafetyMetrics_SafetyMetricsClass: MATLAB code implementation of functions that perform safety metric calculations given a set of objects and a path through them.

Time to collision

Demo of vehicle doing a lane change

GPS and CORS Calibration

• FieldDataCollection_GPSRelatedCodes_RTKCorrectionService: Setting up and using of Real-time kinematic (RTK) via Networked Transport of RTCM via Internet Protocol (NTRIP).(IVSG - PSU internal).

Data Processing

Processing GPS Data

• DataProcessing_GPS_GPSConversionMethods: A repo sharing the algorithms used for GPS conversions, e.g. LLA to ENU (cloned from IVSG on 2023 04 03).

Maps and scenarios

• FieldDataCollection_VisualizingFieldData_PlotWorkZone: A repo displaying the scenarios and their descriptions. (IVSG - PSU internal)

Data collection for on-track tests

Data Management System (DMS)

The data tags definition is below:

Stage - either “Simulation”,”TestTrack”,”OnRoad”

ScenarioNumber - the ID number for the Scenario

ScenarioShortName - the “short” name for the Scenario

Treatments - These are 3 subfields, for HD maps, Comms, Coatings - each for “with” and “without”

DataSource - either “AV” or “MappingVan” or “Roadside”

Per-treatment data - “MergedMap” or “ProcessedMetrics” or “CARLAScenario” or “Codes”

Aggregated mapping data - “Precalibration”, “Prerun”, “Postrun”, “Postcalibration”

Individual run data - the run number, e.g. pass number 1 of the AV

To be added:

• About the DMS

• Accessing the DMS from the public

• Accessing the DMS from the team

• Process for data upload/download

Automonous Vehicle testing

To be added:

• About the AV

• the AV equipment

• the AV setup

• the AV testing

• the AV sample data

• the AV results

Coatings

To be added:

• About coatings

• Coating details used in the project

• Calibration of the coatings

• Coating tests

• Coating results

CV2X

To be added:

• About CV2X

• CV2X equipment

• CV2X setup

• CV2X testing

• CV2X sample data

• CV2X results

Work Zone Instrumentation

• About Work Zone Instrumentation

• Work Zone Instrumentation equipment

• Work Zone Instrumentation setup

• Work Zone Instrumentation testing

• Work Zone Instrumentation sample data

• Work Zone Instrumentation results