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SCATS and STREAM Interface Through The SCATS ITS Port
SCATS and STREAM Interface Through The SCATS ITS Port
This work is copyright. Apart from any use as permitted under the Copyright Act 1968,
no part may be reproduced by any process without the prior written permission of Austroads.
Project Manager
Mark Shotton
Department of Planning, Transport and Infrastructure SA
Prepared by
Dr Clarissa Han and Dr James Luk
ARRB Group
Austroads believes this publication to be correct at the time of printing and does not accept
responsibility for any consequences arising from the use of information herein. Readers should
rely on their own skill and judgement to apply information to particular issues.
SCATS and STREAMS Interface through the
SCATS ITS PORT
Sydney 2012
About Austroads
Austroads’ purpose is to:
promote improved Australian and New Zealand transport outcomes
provide expert technical input to national policy development on road and road transport
issues
promote improved practice and capability by road agencies.
promote consistency in road and road agency operations.
Austroads membership comprises the six state and two territory road transport and traffic
authorities, the Commonwealth Department of Infrastructure and Transport, the Australian Local
Government Association, and NZ Transport Agency. Austroads is governed by a Board consisting
of the chief executive officer (or an alternative senior executive officer) of each of its eleven
member organisations:
Roads and Maritime Services New South Wales
Roads Corporation Victoria
Department of Transport and Main Roads Queensland
Main Roads Western Australia
Department of Planning, Transport and Infrastructure South Australia
Department of Infrastructure, Energy and Resources Tasmania
Department of Transport Northern Territory
Department of Territory and Municipal Services Australian Capital Territory
Commonwealth Department of Infrastructure and Transport
Australian Local Government Association
New Zealand Transport Agency.
The success of Austroads is derived from the collaboration of member organisations and others in
the road industry. It aims to be the Australasian leader in providing high quality information, advice
and fostering research in the road transport sector.
SCATS and STREAMS Interface through the SCATS ITS Port
CONTENTS
1 INTRODUCTION ................................................................................................................... 1
2 RELEVANT EXPERIENCE ON SCATS/STREAMS INTEGRATION ..................................... 2
2.1 DPTI SCATS/STREAMS Integration ...................................................................................... 2
2.2 VicRoads SCATS/STREAMS Interface Development ............................................................ 4
2.3 MRWA on Using the SCATS ITS Port .................................................................................... 6
2.4 TMR on STREAMS Integration with Another Traffic Control System...................................... 6
2.5 Dialogue with Transmax ........................................................................................................ 7
3 THE ITS PORT IN SCATS..................................................................................................... 8
3.1 Background ........................................................................................................................... 8
3.2 Licensing ............................................................................................................................... 8
3.3 Available Message Types from the ITS Port .......................................................................... 9
3.3.1 Message Type 1: Action List .................................................................................. 10
3.3.2 Message Type 2: Alarms........................................................................................ 10
3.3.3 Message Type 3: ANTTS ....................................................................................... 10
3.3.4 Message Type 4: Congestion ................................................................................. 11
3.3.5 Message Type 5: Controller Details........................................................................ 11
3.3.6 Message Type 6: Date and Time ........................................................................... 11
3.3.7 Message Type 7: Detector Count ........................................................................... 11
3.3.8 Message Type 8: Dwell .......................................................................................... 11
3.3.9 Message Type 9: Error ........................................................................................... 11
3.3.10 Message Type 10: Event Log ................................................................................. 11
3.3.11 Message Type 11: Extended Controller Details ...................................................... 12
3.3.12 Message Type 12: Extended Region Details .......................................................... 12
3.3.13 Message Type 13: File ........................................................................................... 12
3.3.14 Message Type 14: Green Window ......................................................................... 13
3.3.15 Message Type 15: Incident Plan ............................................................................ 13
3.3.16 Message Type 16: Licence Validation .................................................................... 13
3.3.17 Message Type 17: Locks and Trims ....................................................................... 13
3.3.18 Message Type 18: Ramp Metering System ............................................................ 13
3.3.19 Message Type 19: Region Details .......................................................................... 13
3.3.20 Message Type 20: Route Pre-emption ................................................................... 14
3.3.21 Message Type 21: Server Registration .................................................................. 14
3.3.22 Message Type 22: Site Graphics ........................................................................... 14
3.3.23 Message Type 23: Site Layout ............................................................................... 15
3.3.24 Message Type 24: Site Status................................................................................ 15
3.3.25 Message Type 25: Strategic Monitor ...................................................................... 16
3.3.26 Message Type 26: System and Site Notes ............................................................. 16
3.3.27 Message Type 27: User Log On............................................................................. 16
3.3.28 Message Type 28: Watchdog ................................................................................. 16
4 FUNCTIONAL REQUIREMENTS FOR SCATS/STREAMS INTERFACE THROUGH
THE SCATS ITS PORT ....................................................................................................... 17
5 CONCLUSIONS .................................................................................................................. 22
REFERENCES ............................................................................................................................. 23
APPENDIX A LIST OF ABBREVIATIONS ..................................................................... 24
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TABLES
Table 3.1: Message types supported by the SCATS ITS Port ................................................... 9
Table 4.1: Functional requirements of the SCATS/STREAMS interface through the
ITS port .................................................................................................................. 17
FIGURES
Figure 2.1: Congestion display in STREAMS using the SCATS data through the
SCATS/STREAMS interface .................................................................................... 3
Figure 2.2: SCATS Access application launched through the SCATS/STREAMS
interface ................................................................................................................... 3
Figure 2.3: Display of SCATS control actions in STREAMS ....................................................... 4
Figure 2.4: Calling the SCATS Action List from STREAMS in VicRoads test
environment ............................................................................................................. 5
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SUMMARY
SCATS is a road signal control system that is used in many cities in Australia and New Zealand
and many overseas countries. STREAMS is an integrated platform for signal coordination (in
Queensland), freeway management and other traffic management measures. STREAMS has
been recently used for freeway management and as an interface for SCATS in Adelaide and for
ramp metering in Melbourne. This project aims to document current activities amongst road
agencies on the SCATS/STREAMS interface through the SCATS Intelligent Transport System
(ITS) Port, and identify a set of functional requirements for this interface to guide the development
of applications that make use of the data through this ITS Port.
This project successfully developed 26 functional requirements for the interface between SCATS
and STREAMS through the ITS Port. The data sets required for 24 out of the 26 requirements are
already available through the ITS Port, and about half of the requirements have been implemented
or partially implemented in South Australia.
RMS would further consider the investigation of the following STREAMS requirements not currently
supported with data through the SCATS ITS Port:
STREAMS shall display current SCATS user such as an operator or a system that placed
site locks and trims, to ensure they are not left around inadvertently (functional requirement
12(a)).
STREAMS shall query and display the Action List for SCATS sites, i.e., show the current
Action List(s) by the scheduler and/or variation routines.
STREAMS shall provide (arterial) online national performance indicators (NPI) calculation
based on cycle-by-cycle signal timings, flow and occupancy (or equivalent density
indicators), link length and speed limit for a through movement.
STREAMS shall be advised of any changes in SCATS site configurations.
RMS also clarified the licensing requirements in using the data from the ITS Port and the SCATS
development kit. A third party software/firmware developer will be able to deal with both its client
road agency and RMS on matters that involve the use of both SCATS and the data through the ITS
Port.
The functional requirements compiled in this report show the roadmap for the on-going
development and application of the SCATS/STREAMS interface. When all of the proposed
requirements are implemented in both systems, a powerful ITS platform will be available to road
agencies to improve the productivity and reliability of the road network in moving people and
goods.
ACKNOWLEDGEMENTS
Most materials were compiled from the documents supplied by the NS1724 team members. The
project team consists of Mark Shotton (Project Manager) and Jim Cluse from DPTI, Craig Moran,
Steven Shaw and Andrew Mehaffey from RMS, Richard Zhou and Andrew Somers from VicRoads,
David Stewart and Matthew Wood from TMR, Stefan Hoffman from MRWA, Michael Day from
TAMS, Danny Johnson from DIER, Geoff Horni from DOT and Russell Pinchen from NZTA.
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1 INTRODUCTION
SCATS (RMS 2012) and STREAMS (Transmax 2010) are network operational tools used by road
agencies in Australia and New Zealand to manage the road network. Several jurisdictions have
commissioned both products to deliver a combined operating system.
The Austroads Network Taskforce identified that discussions between the owners and users of
both SCATS and STREAMS may benefit all jurisdictions, particularly if the learnings from each
involved jurisdiction can be shared and agreed functional requirements for an integrated platform
can be developed.
The purpose of Austroads project NS1724: Development of SCATS and STREAMS Interface was
to develop an agreed set of functional requirements for connecting SCATS to STREAMS through
the Intelligent Transport System (ITS) Port in SCATS based on the experience of jurisdictions that
have commissioned both products.
A secondary purpose of the project was to improve the dialogue and working relationship between
the owners of SCATS and STREAMS. Two project workshops with project team members were
organised and a further meeting with Transmax was held.
Appendix A provides a list of abbreviations. Appendix B records the priority ranking from individual
jurisdictions on those functional requirements that have not been implemented in STREAMS.
In this report, the term ‘SCATS/STREAMS interface’ refers to the SCATS/STREAMS interface
through the ITS Port, and the term ‘SCATS ITS Port’ is often shortened as ‘the ITS Port’. Note that
the SCATS ITS Port has been interfaced to other devices/systems apart from STREAMS.
It must be emphasised that this project is not about the SCATS ITS Port. It is not about STREAMS
facilities either. As mentioned, the expected output from this project is an agreed set of functional
requirements for connecting SCATS to STREAMS through the ITS Port. The detailed technical
specifications or protocols are outside the scope of project NS1724.
For clarification, Transmax is a private company wholly owned by TMR for the development,
maintenance and commercialisation of STREAMS.
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SCATS and STREAMS integration was part of the project (Transmax 2010). An interface to
SCATS through the ITS Port was developed to support the following functions:
SCATS alarms were transferred to STREAMS. SCATS Regional text messages were
received by STREAMS and incorporated into event and alarm logs.
Real-time operational information for SCATS sites was provided via list and map views in the
STREAMS Explorer interface, including an indication of operational status, current cycle
length, dwells, route pre-emption controls and associated current alarms.
Information related to traffic congestion adjacent to SCATS sites was transferred to
STREAMS and indicated on the map view by colouring the associated link according to the
level of congestion (Figure 2.1).
The SCATS Access (a graphical user interface for SCATS) can be launched in response to a
SCATS alarm through the Alarm Management interface, or through the list or map view via
the context menu (Figure 2.2).
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Figure 2.1: Congestion display in STREAMS using the SCATS data through the SCATS/STREAMS interface
Figure 2.2: SCATS Access application launched through the SCATS/STREAMS interface
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The following SCATS control actions were accessible via STREAMS Response Plans
(Figure 2.3) or via manual overrides:
— activation of Action Lists
— activation of plan locks
— activation of cycle time locks
— activation of dwells
— activation of route pre-emption control (RPC).
Note that the ITS Port has not been designed for sophisticated real time control of the signals.
However, some messages such as message type 8: dwell (Section 3.3.8), message type 14: green
window (Section 3.3.14) and message type 20: route pre-emption (Section 3.3.20) from the ITS
Port can be used to trigger certain control actions such as emergency vehicle pre-emption (EVP).
Traffic operators of DPTI commented that the SCATS/STREAMS interface allowed users to use
SCATS data easily without knowing details of SCATS.
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VicRoads has been developing various applications to extract SCATS data via the ITS Port. One
such application maps degrees of congestion over the network and records congested minutes for
each mid-block road segment. A user familiar with TCP/IP and socket connections should be able
to safely communicate with SCATS via the ITS Port without interfering with SCATS operations.
The VicRoads M1 upgrade project made use of STREAMS as a platform for ramp metering
(VicRoads 2010). The project also included the development of a SCATS/STREAMS interface
through the ITS Port for freeway ramp signal management (VicRoads 2011). The purposes of
developing a SCATS and STREAMS single user interface were to:
enable more streamlined user experience
reduce the number of software graphical user interfaces (GUI) required to be displayed on
the screen
enable TMC staff to respond rapidly to accidents and traffic disruptions with the assistance of
other ITS devices such as CCTV and VMS available on a single map interface
enable newly recruited TMC operators with the right access level to perform more intuitive
traffic management tasks after training.
Some functions such as calling the SCATS Action List from STREAMS through the ITS Port were
developed in the test environment but are not yet commissioned (Figure 2.4). VicRoads is also
committed to trial the DPTI SCATS/STREAMS interface in a test environment to assess whether it
is suitable as an interim solution for VicRoads.
A set of functional requirements was prepared for the SCATS/STREAMS interface through the ITS
Port for the M1 upgrade project (VicRoads 2011). This set was used as the start point of preparing
the recommended Austroads NS1724 functional requirements in Section 4.
Figure 2.4: Calling the SCATS Action List from STREAMS in VicRoads test environment
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MRWA also trialled the retrieval of SCATS SM data for arterial travel time estimation using the
ARRB Travel Time Model (ATTM) (e.g. Luk et al. 2006). The SM data was retrieved in real time
through a special interface to SCATS and processed in a travel time server at the traffic
management centre (TMC) in Perth.
Beacon Technology (2009, 2010) and ARRB further investigated the issues of collecting all the
required data from the ITS Port for travel time calculation. The SCATS ITS Port was identified as
the best means of extracting SCATS data as it does not interfere with SCATS operation. However,
data obtainable through the ITS Port would still be limited and the delay times to requests made
through the ITS Port were considered too great to enable the reporting of travel time estimates
within a period considered close enough to real-time. The limitation could be due to the current
communication protocol between controllers and SCATS, e.g. the SCATS Access application does
not know the status of controllers. RMS is working on upgrading the communication protocols
between controllers and SCATS to enable much richer data types to be available from the ITS port.
The ATTM was implemented in STREAMS. Arterial travel time using the SCATS data from the ITS
Port is a proposed functional requirement of SCATS/STREAMS interface (no. 22 in Section 4).
TMR through Transmax further provided an interface between STREAMS and the traffic
management and control system (called the Meridian) for the Tugun Bypass. The Tugun Bypass
is a 334 m long tunnel located between NSW (with the traffic network managed by SCATS) and
QLD (with the traffic network in the Gold Coast region managed by STREAMS). The purpose of
the interface was to monitor the Bypass status through the STREAMS platform.
The interface between STREAMS and Meridian is a programmable logic controller (PLC). The
interface provides eight relay outputs which were monitored by a STREAMS Field Processor.
These outputs provided the status of the Tugun Bypass to the STREAMS system including:
bypass operating normally (all lanes open)
bypass operating congested (lane closures / congestion level ‘x’ or worse)
bypass closed (all lanes closed)
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Each of these signals was reflected by a corresponding signal back from STREAMS to
acknowledge the above inputs. The Tugun Bypass returns to RMS control in 2018 and a
centre-to-centre (C2C) communication between Meridian and SCATS through the ITS port will be
set up in future.
Transmax has already ordered the ITS Port developer’s kit and will develop and test the
STREAMS/SCATS software interface by using the simulated SCATS environment following the
purchase of the licence.
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3.1 Background
The SCATS ITS interface was introduced in SCATS version 6.0. At that time, there were only a
small number of message types and all ITS communications were handled by SCATS Regional
computers. The SCATS Central Manager was introduced with SCATS version 6.1.2, and this
Central Manager also supported the ITS interface. The number of message types increased with
subsequent releases of SCATS and has continued to increase to meet the needs of SCATS users
and ITS application developers.
Users can use the ITS Port to extract data out of SCATS. Generally users cannot provide major
input or critical real time control to SCATS through the ITS Port. As mentioned, the ITS Port has
not been designed for sophisticated real time control of the signals and some messages (e.g.
message types 8 and 20) from the ITS Port can be used to trigger certain control actions such as
emergency vehicle pre-emption (EVP).
RMS encourages all user applications to exchange data with SCATS through the ITS Port. All
other applications that access SCATS data rather than through the ITS Port are not guaranteed.
In future the SCATS ITS Port will provide an international interface by employing the National
Transportation Communications for ITS Protocol (e.g. Joint Committee on the NTCIP 2009).
RMS welcomes the development of the Austroads SCATS/STREAMS interface and saw SCATS
as a core arterial road manager that can be used in a range of third party platforms such as
STREAMS and Serco (2012).
3.2 Licensing
The user must purchase an ITS licence before writing an ITS application using the ITS Port. With
an ITS licence, the user receives:
the licence details needed for the user’s ITS application
one or more specifications, including the SCATS ITS interface specification
help desk support.
The ITS licence specifies which SCATS host the user can use, which ITS message types the user
can use and how many simultaneous connections the user can have. Various licensing options
are available and all ITS licences are user-specific.
There are two types of ITS licences – the Client licence and the Server licence. Both licences
support all message types and have one maximum connection. Existing single licence will be shut
down and replaced by the dual licensing system.
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RMS provides an ITS developer’s kit to support users to develop and test ITS applications through
the ITS Port. A developer licence can use all message types but application licences are
user-specific. All new ITS licences are categorised as either developer licence or application
licence, both shall use dual licensing (i.e. the Client licence and the Server licence).
The number of message types has increased with subsequent releases of SCATS and will
continue to increase to meet the needs of SCATS users and ITS application developers.
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Detailed description of these 28 available message types from the ITS Port are as follows.
If the ITS licence includes this message type, the user will be supplied with a specification of the
alarm identifier format. This is used to identify the alarm type, source, various time stamps and
status.
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See also message type 11: extended controller details in Section 3.3.11.
See also message type 14: green window in Section 3.3.14 and message type 20: route
pre-emption in Section 3.3.20.
This message can also be used to generate user-defined alarms. If the ITS application needs to
do this, the user will be supplied with a specification of the alarm identifier format.
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The user should use the controller details message to check the controller version number before
using this message.
If the ITS licence includes this message type, the user will be supplied with any specifications that
exist for the relevant file formats.
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The dwells at each site may be timed or permanent. Unlike SCATS Access, the user can specify
alternate dwell phases and/or a start delay for each site. From version 6.5.4, the user can also
specify the 'no skip' flag.
This message can also be used to remove all the dwells for the same green window.
See also message type 8: dwell in Section 3.3.8 and message type 20: route pre-emption in
Section 3.3.20.
This is normally only used by the SCATS ramp metering system (SRMS).
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See also message type 12: extended region details in Section 3.3.12.
See also message type 8: dwell in Section 3.3.8 and message type 14: green window in
Section 3.3.14.
In order to prevent clashes with other ITS applications, the unique numbers allocated to the custom
message types will be allocated to be used by the RMS. As the number of available custom
message types is limited, it should restrict to one custom message type per application and use
sub-message types if the user needs multiple custom messages.
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It is up to the ITS application to extract any information that is needed from the encoded data
and/or render the graphics.
If the ITS licence includes this message type, the user will be supplied with a specification that
describes the encoded data format.
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link mode
active split plan number
active offset plan number
special facilities (Y–, Z–, Z+, extra special facilities, miscellaneous status, remote special
facilities and Z flags)
phase intervals
phase times
demand status
walk termination status
slave status
false green status
vehicle and pedestrian signal group status (i.e. green or not green)
subsystem number
congestion index
marriage status
nominal cycle length
required cycle length.
If the ITS licence includes this message type, the user will be supplied with a specification that
describes the strategic monitor data format.
If the ITS licence includes this message type, the user will be supplied with a specification that
describes the password encryption algorithm.
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At the March 2012 project workshop, members of NS1724 project team reviewed and modified the
VicRoads (2011) functional requirements and developed the Austroads functional requirement for
a SCATS/STREAMS interface through the ITS Port. These functional requirements were compiled
in Table 4.1. The explanation of the column headers in Table 4.1 is as follows:
‘Availability’ means the data required for this functional requirement is available or not
available thought the SCATS ITS Port.
‘Comments’ were mainly supplied by RMS.
‘Implementation’ means the functionality specified was implemented or has not been
implemented in STREAMS.
‘Agreed priority of implementation’ provides the average priority ranking (1 – low priority;
2 – medium priority; 3 – high priority) for those functional requirements that have not been
implemented in STREAMS through the ITS Port. The priority is the average value of the
rankings supplied by individual jurisdictions. Ranking values from individual jurisdictions
were attached in Appendix B for reference.
Table 4.1: Functional requirements of the SCATS/STREAMS interface through the ITS port
SCATS ITS Port STREAMS
Agreed priority
of
implementation
No. Functional requirements
Availability Comments Implementation 1 – Low priority
2 – Medium
priority
3 – High priority
ITS Port cannot identify
SCATS operators shall apply settings
different users using the same Implemented
with their own SCATS user key and
1 Available ITS port. The log information
any modifications shall be reflected in (road agency to use the DPTI model)
will specify the application that
SCATS log for auditing purpose.
made the request.
STREAMS shall query and display Marriage data is available in
Not
2 current Subsystem marriage status Available both the Site Status and 2
implemented
graphically. Subsystem messages.
STREAMS shall search SCATS sites
from inputs such as: The Extended Region Details
(a) a site number message can be used to
(b) road names and intersection determine the sites belonging
3 Available to a region. Implemented partially
similar to current SCATS Access (e.g.
entering ‘High St / Station St’ and Road names are not available
‘Station St / High St’ returns the same on the ITS Port.
intersection).
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Further, the number of message types provided by the ITS Port may need to be further increased
to meet the needs from users.
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5 CONCLUSIONS
Austroads Project NS1724 successfully developed a set of functional requirements for the interface
between SCATS and STREAMS through the SCATS ITS Port. RMS further clarified the licensing
requirements in using the data from the ITS Port and a SCATS development kit. A third party
software/firmware developer will be able to deal with both its client road agency and RMS on
matters that involve both SCATS and the data through the ITS Port.
Jurisdictions that have commissioned both products provided substantial input for the development
of 26 functional requirements (Section 4). A summary of the main findings is as follows:
The data sets required for most of those functional requirements (24 out 26) are already
available through the SCATS ITS Port.
About half of the functional requirements in Table 4.1 (12 out of 26) have been implemented
or partially implemented in South Australia.
For those functional requirements that have not been implemented in STREAMS (14 out of
26), priority rankings were provided based on the feedback from jurisdictions. The ranking
values are the average values of the rankings supplied by individual jurisdictions. This
priority ranking is useful for the on-going development and usage of the SCATS/STREAMS
interface.
RMS would investigate the following requirements not currently supported with SCATS data
through the ITS Port:
— STREAMS shall display current SCATS user such as an operator or a system that
placed site locks and trims, to ensure they are not left around inadvertently (functional
requirement 12(a)).
— STREAMS shall query and display the Action List for SCATS sites, i.e. show the
current Action List(s) by the scheduler and/or variation routines (functional requirement
14).
— STREAMS shall provide the online calculation of arterial (NPI) based on cycle-by-cycle
SCATS signal timings, flow and occupancy (or equivalent density indicators), link
length and speed limit for a through movement (functional requirement 22).
— STREAMS shall be advised of any changes in SCATS site configurations (functional
requirement 23 (b)).
Further, the number of message types provided by the ITS Port may need to be further increased
to meet the needs from users.
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REFERENCES
Beacon Technology 2009, ITS SCATS data collector use case model survey, version 0.1, Main Roads WA,
Perth, WA.
Beacon Technology 2010, ITS SCATS use case model survey travel time model, version 0.1, Main Roads
WA, Perth, WA.
Joint Committee on the NTCIP 2009, The NTCIP guide: National Transportation Communications for ITS
th
Protocol, version v04, AASHTO, ITE & NEMA, Washington, DC, viewed 12 April 2012,
<http://www.ntcip.org/library/documents/pdf/9001v0406r.pdf>.
Luk, JYK, Karl, C, Su, M & Bennett, P 2006, ‘Real-time estimation of travel times on arterial roads in
nd
Melbourne’, ARRB conference, 22 , 2006, Canberra, ACT, ARRB Group Ltd, Vermont South, Vic, 14
pp.
Roads and Traffic Authority 2009, SCATS intelligent transport systems interface overview, SCATS6-TN-028,
Issue A, 4 February 2009, RTA, Sydney, NSW.
Roads and Maritime Services 2012, Sydney Coordinated Adaptive Traffic System (SCATS), Sydney, NSW,
th
viewed 12 April 2012, http://www.scats.com.au/index.html.
Serco 2012, A global leader in transport, Serco, North Sydney, NSW, viewed 12 December 2012,
<http://www.serco-ap.com.au/our-services/sectors/transport/>.
th
Transmax 2010, STREAMS ITS integration, Transmax Pty Ltd, Brisbane, Qld, viewed 12 April 2012,
http://www.transmax.com.au/images/stories/pdf_files/brochures/web/3.STREAMS_ITS_Integration.pdf
VicRoads 2010, Managed freeways: freeway ramp signal handbook, VicRoads, Kew, Vic.
VicRoads 2011, SCATS and STREAMS integration software requirement specification, version 2.0,
VicRoads, Kew, Vic.
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INFORMATION RETRIEVAL
Austroads, 2012, SCATS and STREAMS Interface through the SCATS ITS
Port, Sydney, A4, pp. 30. AP-T224-12
Keywords:
Abstract: