Spelled out TITLE (Abbreviation or Acronym)
Content for Application Page
Tab 1: Summary
Connected and Automated Speed Harmonization is a software set that analyzes real-time traffic conditions to compute and communicate speed commands for connected and automated vehicles (CAVs), with the overall goal of harmonizing traffic flow. The software set includes on-board speed control software for CAVs, server software for a simulated Traffic Management Center (TMC), and an on-board Human Machine Interface (HMI).
Tab 2: Description
Connected and Automated Speed Harmonization has the following functionalities:
· Simulated TMC:
o Collect point detector data (e.g., aggregate roadway speed, volume, and occupancy data) using a WaterSQL database
o Run one or more speed control algorithms
o Communicate with each participating CAV
§ Receive speed, position, and other data
§ Transmit speed commands
o Store experimental data (i.e., time and location of the experiment, the point detectors and CAVs involved, the measurements gathered from those CAVs, and the commands sent to them) in a SQL Server relational database
o Provide a rudimentary command-line user interface that allows a user to define a new experiment, assign vehicles to it, assign speed control algorithms to vehicles, and monitor interactions of these elements during the experiment
· CAV:
o Communicate with the simulated TMC
§ Request and receive speed commands
§ Request and receive status of other participating CAVs in experiment
§ Transmit vehicle ID, speed, acceleration, position, and other state variables
o Compute a speed command confidence based on the time since the latest command was received
o Communicate with the HMI
§ Transmit speed command and speed command confidence
§ Transmit status of other participating CAVs in experiment
o Communicate with the vehicle longitudinal controller and sensors
§ Receive vehicle ID, speed, acceleration, position, and other data
§ Transmit speed command
· CAV on-board HMI:
o Display information on current speed, commanded speed, confidence in the commanded speed, and the status of surrounding CAVs to the driver of the CAV
The Connected and Automated Speed Harmonization software is composed of three components:
· the control software (version 1.1) is written in Simulink and runs on the vehicle's MicroAutoBox II (MAB);
· the DVI software (version 1.0) is written in Java and runs on the vehicle's secondary computer, which is an Ubuntu Linux PC;
· the server software (version 1.0) is written in Java and runs on an independent server intended to simulate a TMC facility.
The two vehicle components sit on top of the reusable platform software in the Turner Fairbank Highway Research Center’s (TFHRC's) Connected Automated Research and Mobility Applications (CARMA) fleet of Cadillac SRXs (CARMA software).
Together with the CARMA MAB software, the MAB component measures several vehicle state parameters and reports them to the secondary computer. It also takes in speed commands from the secondary computer and controls the vehicle to smoothly achieve the current speed command.
Together with the CARMA secondary software, this secondary computer software receives state information from the MAB and passes it to the server; it receives updated speed commands from the server and passes these to the MAB. It passes pertinent pieces of both of these data streams on to the HMI tablet, for which it acts as a web server. It also receives position data from the vehicle's positioning device.
The server component reads infrastructure data from point detectors stationed along the experimental drive route, and takes in state data from any number of vehicles involved in the experiment. It feeds all of this input data to one or more attached vehicle speed algorithms, which calculate the desired speed command for each vehicle. It then provides these speed commands to each vehicle's secondary software. This version of the server is configured with one algorithm, the shooting heuristic, version 1.0.
Tab 2: Release Notes:
License
This software is intended for use in Connected Vehicle research projects supported by the U.S. Department of Transportation and shall not be used for, or with, commercial products. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
This software makes use of various third-party software components that have reuse licenses associated with them. These packages and their license information are shown below.
1. APACHE:
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
2. JQUERY: Copyright jQuery Foundation and other contributors, https://jquery.org/. This software consists of voluntary contributions made by many individuals. For exact contribution history, see the revision history available at https://github.com/jquery/jquery.
3. SOCKJS: The MIT License (MIT)
- Copyright (c) 2011-2012 VMware, Inc:
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so.
4. STOMP-JS: Copyright (c) 2010, Benjamin W. Smith All rights reserved.
- Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
o Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
o Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
o Neither the name of the author nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission
5. SPRING:
- Terms of use are provided at https://pivotal.io/terms-of-use
6. MySQL:
- Community Edition license agreement is at http://downloads.mysql.com/docs/licenses/mysqld-5.7-gpl-en.pdf
Installation and Removal Instructions
- MAB software installation - this is a complicated build and install process, which involves the software from the CARMA library as well. It is described in the document "Speed Harm MAB Software Installation Instructions.docx" in the MAB/docs directory. Note that it is intended to work with version 2.0 of the CARMA MAB software.
- Secondary software installation - the secondary software runs on Java 1.8, which needs to be installed first. All of its functionality and resources are packaged in a single jar file, which needs to be installed in a directory named /opt/speedharm. It will also need a directory named /opt/speedharm/logs. To build this jar file, the developer must first add the CarmaSecondary 2.0 library to the local Maven repository, and then execute a maven clean install using the project files from this repository; doing so will include the CarmaSecondary library into the final jar file.
- Server software installation instructions:
o ADD if available
- Software removal – to remove the MAB software, simply wipe the computer. To remove the secondary or server installations just delete the directories that they were installed to.
Operating requirements
- Microautobox: dSpace Microautobox II computer
- Secondary processor:
o Minimum memory: 2 GB
o Processing power: Intel Core I3 @ 1.6 GHz or equivalent
o Connectivity: Ethernet
o Operating systems supported: Ubuntu 14.04
- Server:
o Minimum memory: 2 GB
o Processing power: Intel Core I3 @ 1.6 GHz or equivalent
- Connectivity: Ethernet
- Operating systems supported: Windows 7 or Windows Server 2008
Related web sites
The software is distributed through the USDOT's JPO Open Source Application Development Portal (OSADP), http://itsforge.net/
Tab 3: Documentation
- Final Report
- Connected and Automated Speed Harmonization MAB Software Installation Instructions
Tab 4: Discussion
- Main discussion (link)
- Issue discussion (link)
Tab 5: Related Applications
- List of all applications with same categorization