demonstrating automated driving systems (ads) through
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US DOT FHWA 693JJ319NF00001, “Automated Driving System Demonstration Grants.” Proposal Title:
Demonstrating Automated Driving Systems (ADS) through Highly Automated Vehicles (HAV) Supporting Emergency Response Operations (ADS-HERO) Proposing Agency: University of Maryland (State Controlled Institute of Higher Education) Contractors:
Westat WSP Maryland Transportation Authority Anne Arundel County Fire Department Local Motors, LLC Army Aberdeen Test Center
Technical Point of Contact: Tom Jacobs Director, Center for Advanced Transportation Technology
Department of Civil and Environmental Engineering, University of
Maryland Address
Phone: 301-405-7328, Email: mailto: tjacobs@umd.edu
Administrative Point of Contact:
Takeia Bradley, Contract Manager Office of Research Administration, University of
Maryland 3112 Lee Building, College Park, MD 20742
Phone: 301-405-6269, Fax: 301-314-9569, Email: oraa@umd.edu Project Duration: Four Years, proposed from 10/01/2019 to 9/30/2023
March21,2019Ms.SarahTarpgaardAgreementOfficerU.S.DepartmentofTransportationFederalHighwayAdministrationOfficeofAcquisitionandGrantsManagement1200NewJerseyAvenue,SEWashington,D.C.20590DearMs.Tarpgaard:TheUniversityofMarylandispleasedtosubmitthisproposalfortheHighlyAutomatedVehicle(HAV)EmergencyResponderOperations(HERO)project.OurproposalrepresentsacollaborationledbytheUniversity’sMarylandTransportationInstitute(MTI)anditsaffiliatedCenterforAdvancedTransportationTechnology(CATT).TheleadpublicagencypartnersaretheMarylandTransportationAuthority(MDTA)andtheMDTAPoliceaswellastheAnneArundelCountyFireDepartment.WithourkeysupportingTeammembers,WestatandWSP,thiscollaborationisuniquelyqualifiedtocarryoutademonstrationofAutomatedDrivingSystems(ADS)withavisionfocusedonthesafeintegrationofADSintoemergencyresponseandtrafficincidentmanagementonthenation’sroadwaynetwork.MTIandCATThavebeensupportingnational,state,andlocaleffortstosolveimportanttransportationmobility,safety,andsecurityproblemsformanyyears.Thisisaccomplishedthroughinnovativetechnologydeploymentsanduser-centereddesignofsoftwareandinformationvisualizationsystems.OurworkspansmanydisciplinesincludingConnectedAutomatedVehicles(CAV),IntelligentTransportationSystems,lawenforcement,networksecurity,privatebusiness,defense,andhomelandsecurity.Oursystemsareusedbymorethan8,000decisionmakers,researchers,planners,operationsspecialists,andhomelandsecurityofficialsinapproximately40-states.Ourkeyresearchpartner,Westat,bringsextensivequalificationsforparticipatinginthisimportantprojectbaseduponitspreviousandongoinghumanfactorsresearchintoautomatedvehicles,connectedvehicles,driverandoccupantbehaviors,andin-vehicleinstrumentation.Ourprogrammanagementsupportpartner,WSP,hasahistoryofover130yearsofprofessionalservices,includingsomeofthemostcomplexandinnovativeprojectsinthenation.
Room 3112 Lee Building 7809 Regents Drive College Park, Maryland 20742-5141 301.405.6269 TEL 301.314.9569 FAX oraa@umd.edu www.ora.umd.edu/ OFFICE OF RESEARCH ADMINISTRATION
YouwillfindthatourproposalisfullyresponsivetotheADSgrantgoalstodemonstratehowchallengestothesafeintegrationofADSintothenation’son-roadtransportationsystemcanbeaddressedandwillbefocusingonanareawhereindustrylacksadequateresourcestoparticipateinindependentdevelopmentwork.Shouldtheproposalbeawarded,theUniversityofMarylandispreparedtoenterintoanagreementundermutuallyacceptabletermsandconditionsandinaccordancewiththeU.S.DepartmentofTransportationpoliciesandrequiredcertifications.Welookforwardtoworkingwithyouonthiscriticallyimportantproject.
Sincerely,
KatieM.McKeonAssistantDirector
University of Maryland
Proposal for Automated Driving System Demonstration Grant
Notice of Funding Opportunity (NOFO) Number 693JJ319NF00001
PART 1. PROJECT NARRATIVE AND TECHNICAL APPROACH
Summary Table
Project Name/Title Demonstrating Automated Driving Systems (ADS) through Highly Automated Vehicles (HAV) Supporting Emergency Response Operations (ADS‐HERO)
Eligible Entity Applying to Receive Federal Funding (Prime Applicant’s Legal Name and Address)
University of Maryland College Park College Park, Maryland, 20741
Point of Contact (Name/Title; Email; Phone Number)
Takeia Bradley, Contract Admin., Office of Research Administration, University of Maryland. 301‐405‐6269. oraa@umd.edu
Proposed Location (State(s) and Municipalities) for the Demonstration
Harford County, Maryland; City of College Park, Maryland; Montgomery County, Maryland and Prince George’s County, Maryland.
Proposed Technologies for the Demonstration (briefly list)
Highly Automated Vehicles (HAV), Connected Vehicle Technologies (V2V and V2X)
Proposed duration of the Demonstration (period of performance)
Four (4) Years
Federal Funding Amount Requested $ 4,543,819
Non‐Federal Cost Share Amount Proposed, if applicable
$ 951,631
Total Project Cost (Federal Share + Non‐Federal Cost Share, if applicable)
$ 5,495,450
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Table of Contents PART 1: Project Narrative and Technical Approach 1.1 EXECUTIVE SUMMARY ..................................................................................................... 1
1.1.1 Vision, Goals, and Objectives .............................................................................................. 1
1.1.2 Key Partners, Stakeholders, Team Members and Other Participants ....................................... 2
1.1.3 Issues, Challenges, Technology Demonstrations, Quantifiable Performance Improvement ........ 2
1.1.4 Geographic Area or Jurisdiction of Demonstration ................................................................ 3
1.1.5 Period of Performance, Schedule for Implementation and Evaluation ..................................... 4
1.2 GOALS ............................................................................................................................. 4
1.2.1 Safety .............................................................................................................................. 5
1.2.2 Data for Safety Analysis, Rulemaking, and Scaling Nationally .................................................. 6
1.2.3 Collaboration .................................................................................................................... 6
1.2.4 Coordination and Integration with Maryland Connected and Automated Vehicles (CAV) Vision and Plans ................................................................................................................................. 7
1.3 FOCUS AREAS .................................................................................................................. 8
1.4 DEMONSTRATION REQUIREMENTS .................................................................................. 9
1.5 APPROACH .................................................................................................................... 10
1.5.1 Technical Approach Summary ...........................................................................................10
1.5.2 Focus Groups ...................................................................................................................11
1.5.3 Demonstration Scenarios ..................................................................................................12
1.5.4 Institutional Review Board ................................................................................................14
1.5.5 Human Factors Research ..................................................................................................15
1.5.6 Vehicle and Infrastructure Instrumentation ........................................................................16
1.5.7 Risk Identification, Mitigation and Management ..................................................................17
1.5.8 Field Testing ....................................................................................................................17
1.5.9 Structured Interviews .......................................................................................................18
1.5.10 Data Analysis and Reporting ............................................................................................18
1.5.11 Advancing ADS technology ..............................................................................................19
1.5.11 Project Schedule ............................................................................................................21
1.5.12 Milestones and Deliverables ............................................................................................22
PART 2: Management Approach, Staffing Approach, and Capabilities
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2.1 Management Approach ................................................................................................ 24
2.1.1 Management Approach Philosophy................................................................................... 24
2.1.2 Project Management Plan ................................................................................................ 27
2.1.3 ADS-HERO Project Organization and Project Management Team ......................................... 28
2.1.4 WSP Project Management Support Responsibilities ............................................................. 29
2.1.5 Project Oversight ............................................................................................................ 29
2.1.6 QA/QC Process ............................................................................................................... 30
2.1.7 WSP Contract Administration and Compliance with Contract Requirements .......................... 30
2.2 STAFFING APPROACH ..................................................................................................... 31
2.3 CAPABILITIES ................................................................................................................ 35
PART 3: Draft Data Management Plan
3.1 DATA DESCRIPTION ........................................................................................................ 50
3.2 ACCESS POLICIES .................................................................... ........................................ 53
3.3 DATA STORAGE .............................................................................................................. 53
PART 4: LETTERS OF COMMITMENT AND SUPPORT ............................................................... 55
PART 5: APPLICATION STANDARD FORMS AND ORGANIZATIONAL INFORMATION............... 84
PART 6: BUDGET DETAIL …..…………………………………………………………………………………….………….. 85
Appendix A: Resumes (addendum to Part 2) ......................................................................... 1
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List of Tables and Figures
Figure 1. ADS-HERO Team .............................................................................................................. 2 Figure 2. ATC High Speed Test Loop ............................................................................................... 4 Figure 3. Project Phases and Period of Performance ..................................................................... 4 Figure 4. MD CAV Working Group .................................................................................................. 8 Figure 5. Quality Assurance Overview .......................................................................................... 30 Figure 6. Project Organization ...................................................................................................... 31 Figure 7. DMP Framework ............................................................................................................ 50
Table 1. Schedule of Milestones and Deliverables ....................................................................... 22 Table 2. ADS-HERO Team Key Personnel and Partners and Estimated Levels of Effort ............... 32
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1.1 EXECUTIVESUMMARY1.1.1Vision,Goals,andObjectivesTheDemonstratingAutomatedDrivingSystems(ADS)throughHighlyAutomatedVehicles(HAV)supportingEmergencyResponseOperations(ADS-HERO)projectvisionisthesafeintegrationofADSintoemergencyresponseandtrafficincidentmanagementoperationsonthenation’sroadwaynetwork.TheADS-HEROmissionistoinformADStechnologyadvancementandtheadaptationoftransportationandemergencyresponseproceduresthroughdemonstrationtestsofADSinteractionswithemergencyresponders.Thisprojectwillfillacriticalresearchgapinthat,nationally,therehasbeenlittleresearchdonetoinformtheimplicationofADSvehiclesinteractingwithemergencyresponsepersonnelandequipmentatatrafficincidentscene.ThisprojectwillbemanagedandguidedbyaveryuniqueandhighlyqualifiedteamtoensurethatallofthestatedrequirementsoftheADSNOFOaremetand/orexceeded.SupportfortheADS-HEROprojectisdemonstratedbythenumeroussupportlettersthatwehavereceivedfromstateandfederallegislators,andinternationalassociationsrepresentinglawenforcementandFire/EMSdisciplines.TheADS-HEROgoalsareto:
● DevelopanincreasedunderstandingofemergencyresponderconcernsregardingtheintegrationofADSintothenation’sroadwaynetwork.
● DevelopanincreasedunderstandingofADSchallengeswhenfacedwithemergencyresponseandtrafficincidentmanagementoperations.
● EncouragedevelopmentofADStechnologythataddressesemergencyresponseandtrafficincidentmanagementoperations.
● EncourageadaptationofemergencyresponseandtrafficincidentmanagementprocedurestoaccommodatethesafeintegrationofADSintothenation’sroadwaynetwork.
TheADS-HEROobjectivesareto:
● EstablishaconciselistofemergencyresponderADSusecaseconcerns.● EngageatleastfiveADSdeveloperstakeholders.● Conductatleastthree,weeklongdemonstrationscenariotests.● Collectandsharevehicle,infrastructureandhumanfactorsdatatoinformADS
technologydevelopment.● Collectandsharevehicle,infrastructureandhumanfactorsdatatoinformthe
adaptationoftransportationandemergencyresponseproceduresfortheadventofADSonthenation’sroadwaynetwork.
● DeveloptechnologysolutionsforareaswhereemergencyresponseandtrafficincidentmanagementoperationschallengeADS.
● Createaframeworkforcollecting,processing,storingandsharingADSdataandassociatedTSMOperformancemeasures.
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1.1.2KeyPartners,Stakeholders,TeamMembersandOtherParticipantsTheADS-HEROTeamiscomprisedoforganizationswithextensiveexperienceinADS,transportationsystemsmanagementandoperation,emergencyresponseoperations,bigdata,education,research,humanfactorsanalysis,real-worlddemonstrationtesting,andprogrammanagement.ThekeyteampartnersandstakeholdersandtheareasofworktheywillleadareshownonFigure1.ThecommittedpublicagencystakeholdersincludetheMarylandTransportationAuthorityPoliceandAnneArundelCountyFireDepartment.DetailedinformationabouttheprojectteamcanbefoundinPart2ManagementApproach.
Figure1.ADS-HEROTeam
1.1.3Issues,Challenges,TechnologyDemonstrations,QuantifiablePerformanceImprovementTheadventofADSoffersthepotentialtoimprovesafetyonthenation’stransportationsystem.AcriticalelementtosafelyintegratingADSintothenation’stransportationsystemistobringattentiontoADSperformanceduringon-roadtransportationandemergencyresponseoperations.Transportationandemergencyresponseoperationsisanareathatrarelyseesprivatesectorinvestmentbutprovidesasignificantserviceandbenefittoallcommunities-ineverytypeofgeographicareaandpopulation,whetherusingpublicorprivatetransportforthemovementofpeopleorgoods.TheADS-HEROprojectisstructuredtoworkwithADSdevelopersaswellastransportationandemergencyresponderstakeholderstoidentifyareasofconcernandtobuildADSdemonstrationscenariosthataddresstheseconcerns.TheADS-HEROresearchpartnerswillcollectdataduringreal-worlddemonstrationscenariotestingtoverifyareasofconcernandtomeasureADSandresponderperformance.DemonstrationscenarioevaluationreportswillbeusedtofacilitatetheimprovementofADStechnologyaswellasemergencyresponseproceduresandtransportationsystemmanagementandoperations.Annualdataandresultssharingfrom
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thesedemonstrationsareexpectedtoinformthefollowingyear’sresearchanddemonstrationplans,whichwillresultinafinalevaluationreportdocumentingidentifiedareasofconcernandrecommendedperformanceimprovements.1.1.4GeographicAreaorJurisdictionofDemonstrationTheprimarytestingareafortheproposedADS-HEROdemonstrationscenarioswillbetheU.S.ArmyAberdeenTestCenter(ATC)inHarfordCounty,Maryland.TheATChasaloopedtesttrackthatprovidesauniquefacilityforconductingcomprehensivetestinginasecureandcontrolledenvironmentatvariousroadwayspeeds.Inaddition,portionsoftheATCincludeextendedshoulderareasthatprovidespacetostagemultiplestationaryrespondervehicles,suchasfireenginesandambulances,aswouldbedeployedatatypicalroadwayincidentscene.TheATCsitealsohasintersectionswheretemporarysignalscouldbeinstalledforadditionalscenarioandtechnologytesting,includingvehicletoeverything(V2X)solutions.Finally,ATChasSoftCrashTargetsrepresentingvehiclesandpedestriansthatmaybeutilizedaspartofourdemonstrations.Figures2depictsaerialviewsoftheATCtesttrack.TheUMDCollegeParkCampusroadwaysmaybealsoutilizedfordemonstrationtesting.TheUniversityofMarylandTransportationInstituteanditsaffiliateCenterforAdvancedTransportationTechnology(CATT)hasrobustinternallaboratoryspacewheretestingofhardwareandsoftwaretechnologies,includingV2VandV2Xsolutionscanbeprototyped.Finally,theUMDDepartmentofTransportationServicesmanagesseveralsquaremilesoflarge,openspaceparkingfacilities,includingareasuptoonequartermileinlength.ThesefacilitieswouldaccommodatetestingofV2VandV2Xprototypesolutionsoutsideoftheannualweek-longdemonstrationscenariotestingattheATC.Importantly,astheADS-HEROprojectdevelopsandresultsinADStechnologyadvancestothepointwherereal-worldlivesystemtestingisappropriate,MDTAwillconsidermakingavailablelimitedsectionsofitscontrolledaccessroadways.MDTAistheowner/operatorofavarietyoffacilitiesincludingMD200,theIntercountyConnector(ICC).TheICCisafourtosix-lane,access-controlled,managedhighwaythattraversesPrinceGeorge’sandMontgomeryCounty,Maryland.AportionoftheICCandotherMDTAfacilitieshavepreviouslybeenusedforIntelligentTransportationSystemtests.
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Figure2.ATCHighSpeedTestLoop
1.1.5PeriodofPerformance,ScheduleforImplementationandEvaluationThePeriodofPerformanceforthisprojectisfouryears.Thisincludesfourphasesofoutreach,projectplanning,technologyassemblage,datacollection,analysisandreportingasshowninFigure3.PursuanttotherequirementsoftheADSNOFO,UMDwillensurethatallappropriatedatawillbeaccessibletoUSDOTand/orthepublicforaminimumoffiveyearsfollowingtheexpirationoftheperiodofperformance.
Figure3.ProjectPhasesandPeriodofPerformance
1.2GOALSTrafficincidentemergencyresponsecallsarerising,andthechallengeistosafelymanagetheincidentscenetoprotectemergencyresponders,victimsandotherusersofthetransportationsystem.In2017,10lawenforcementand10firefighterpersonnelwerestruckbyvehicles,
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accordingtotheLawEnforcementMemorialFundandtheNationalFireProtectionAssociation.Thenumbersaresignificantlyhigherwhenallemergencyrespondersandallvehicleinvolveddeathsareconsidered.Inarecent“TalkingTIM”webinarhostedbytheNationalOperationsCenterofExcellence,25%ofallcongestionand53-58%ofalldelayinurbanareaswasattributedtoroadwayincidents,indicatingthatthebenefitsofefficientTIMresponsegoesbeyondsafety.ADStechnologieshavethepotentialtoimproveemergencyresponseandtransportationsystemsafetyandperformancethroughcrashavoidance,predictablevehiclemovementandappropriateresponsestoroadwayconditions.SpecificgoalsandobjectivesfortheADS-HEROprojectareshownintheExecutiveSummarysectionofthisdocument.ADS-HEROfocusesonthesafeintegrationofADSintotheNation’son-roadtransportationsafetysystem,generallyinrelationtoADSinteractionswithemergencyresponderoperationsandspecificallyatroadwayincidentscenes.ThroughcollaborationwiththeADSdeveloperandemergencyrespondercommunities,theADS-HEROdemonstrationsanddatacollectionwillsupportthedevelopmentofimprovedADSresponsesatroadwayincidents.Inaddition,ADS-HerodatamaybeusedtosupporttransportationincidentandemergencyresponseproceduremodificationstosafelyintegrateADSintotheNation’stransportationsystem.TheADS-HEROprojectwillalsoseektorevealinformationonhumanresponsestonewandemergingADStechnologies,assesstheimpactofADSonexistingemergencyresponseproceduresanddevelopimprovedresponsesandprocedures.TheprojectwillevaluateADSimpactonestablishednationaltransportationandsafetyperformancemeasures,identifymethodstomaintainandimprovetransportationnetworksafetyfortravelersandemergencyresponders;andprovideequipmentmanufacturerswithcriticalinformationonADSperformanceduringinteractionswithemergencyresponders.Inaddition,theresultscanbeappliedtocreateneworupdateexisting,nationaltrainingprogramsforemergencyresponderssuchaspolice,fire,rescue,medicalservicesandsafetyservicepatrols.1.2.1SafetyEmergencyrespondersandothersatthesceneofanincidentarevulnerabletoapproachingvehicleintrusionsintothescene.Althoughautomateddrivingsystem(ADS)technologieshavedemonstratedsomepromiseinreducingcollisionswithvehicles,pedestrians,andotherobjects,theseinitialsolutionsarenotinfallibleandpotentiallydonotuseconnectedvehicletechnologiestoimproveperformances.ThehumanfactorsimpactonpersonstravelinginanADSequippedvehiclealsoremainsunclear,especiallyinTIMscenarios.ADStechnologiescansignificantlyimproveawarenessofroadwayhazards;but,theymayalsocontributetounwarrantedtechnologicalrelianceorinadvertentlyresultinhumanoccupant“over-reactions”orevenreactionsindirectcontradictiontoprogrammedADSresponses,whichmayresultinsecondaryincidents.ResearchisneededtobetterunderstandtheperformanceofADSduringtrafficincidentandworkzonescenarios,andtherelatedhumanfactorsimplicationsforvehicleoccupantsandotherhighwayusersaswellasemergencyrespondersandotherhighwayworkers.
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1.2.2DataforSafetyAnalysis,Rulemaking,andScalingNationallyAsdenotedintheNOFO,thecollectionandsharingofnear-realtimedataiscriticalfortheanalysisoftheefficacyofADS,andultimatelytoaidinfuturegovernmentrulemaking,includingtheidentificationofpotentialgovernmentalbarriersthatmayimpedetherapidandcomprehensivedeploymentandadoptionofADStechnologiesinthemarketplace.TheADS-HEROprojectwillworktoidentifysafetymetrics(technologicalandhumanfactors-based)thatcancharacterizetheriskofADSintegrationintothetransportationsystem,includingworkingtoidentifyindicatorsthatcaninformfuturesafetyanalysis.ThesemetricswillcreatetheframeworkforevaluatingADStechnologiesinTIMenvironmentswhichmayinformOriginalEquipmentManufacturer(OEM)performanceguidelinesandregulations.TheADS-HEROprojectwilldevelopemergencyresponderusecasesforADSdevelopersandprovidehumanfactorsdataonemergencyresponderinteractionswithADS.Forexample,howcloseistoocloseforanADStoapproachanemergencyresponderorincidentscene?HowmuchtimedoesittakeforanADStonavigateanincidentscene?WillADSreduceorextendthetimetoclearcongestionqueuesnearanincidentscene?Basedonanswerstothesequestions,datacollectedforsafetyanalyseswillbeusedtoinformguidanceanddecisionsbyADSprovidersastothestandardperformance-basedfunctionalitiesthatallADSvehiclesshouldpossesssoastoimprovethesafetyofADSvehicleinteractionwiththeemergencyrespondercommunity.ScalingnationallyrequiressafetydatacapturescalingandADSvehicleperformancefunctionscaling.Nationwidesafetydatascalingisaddressedinthedatamanagementplan.Performancefunctionscalingincludesfunctionssuchasdetectinganemergencyresponderatatrafficincidentmanagementscene,detectingandrespondingtoemergencyresponderhand/flaggingmotionsorothertrafficcontroldevices,detectingandrespondingtoemergencyvehicleswithlightsandsirens,etc.ThescenariosandsafetydatacollectionandanalysesunderthisADS-HEROprojectwillinformwhichspecificemergencyresponsefunctionsshouldbeincludedinADSvehiclesandhowtheycanbeobjectivelyevaluatedaswellashowthesefunctionscanbescalednationally.TheADS-HEROTeamwillalsoworkwithassociationsincludingtheInternationalAssociationofFireChiefsandtheInternationalAssociationofChiefsofPolicetoensurenationalsupportforrequiredADSfunctionalitythatwillmakeemergencyresponderssafer.Inturn,theADS-HEROTeamstandsreadytoworkwithUSDOTinsupportinganyrelatedrulemakingprocessbyusingdataandoutputfromthescenariodeploymentstoinformNationalProposedRulemakingandFinalRulemakingasrequired.1.2.3CollaborationTheUniversityofMaryland(UMD)MarylandTransportationInstitute(MTI)anditsaffiliatedCenterforAdvancedTransportationTechnology(CATT),incollaborationwiththeMarylandTransportationAuthority(MDTA)andtheMarylandTransportationAuthorityPolice(MDTAP),theAnneArundelCountyFireDepartment,theU.S.ArmyAberdeenTestCenter(ATC),Westatanemployee-ownedresearchcorporation,WSPaleadingengineeringandprofessionalservices
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firm,andLocalMotorsanADSdeveloper-proposetoconductresearchonAutomatedDrivingSystem(ADS)vehicletechnologiestoassesstheirresponseto,andimpactonemergencyincidentsonourNation’sroadwaynetwork.TheproposeddemonstrationtestlocationattheATCisideallysituatedtoensureminimumimpactonthepublicandontransportationchallengedpopulationsduringthedemonstrationtests,whiletheanticipatedprojectoutcomeofasaferADSintegrationintoemergencyincidentmanagementonthetransportationsystemwillbenefitallusersoftheNation’sroadwaynetwork.TheADS-HEROTeamwillfullyengageallrelevantstakeholdersacrossourmemberandpartnernetworkstoensurethatwe“createcollaborativeenvironmentsthatharnessthecollectiveexpertise,ingenuity,andknowledgeofmultiplestakeholders.”UMDhaslong-termandrobustexperienceindevelopingextensivepartnershipsacrosseducation,local,state,andFederalgovernments,aswellascommercialindustries(domesticandmultinational).TheCenterforAdvancedTransportationTechnology(CATT)maintainsmultidisciplinarypartnershipswithtransportation,publicsafetyandfire/EMS.CATTprogramsandsoftwaresolutionsareusedbythousandsofparticipants(operationcenter-basedandemergencyrespondersinthefield)andhundredsofagenciesona24/7/365basis.CATTwillberesponsibleforthedatamanagementplananditsexecution.1.2.4CoordinationandIntegrationwithMarylandConnectedandAutomatedVehicles(CAV)VisionandPlansTheMarylandDepartmentofTransportation(MDOT)isamultimodalagencywithresponsibilityforandexpertiseinroadwayandbridgedesign,tollinginfrastructure,motorvehiclesafety,transit,bicycle/pedestrianissues,aviationandports.CAVisconsistentwiththeMDOTmissionandwithmanyofthegoalsinthe20-yearMarylandTransportationPlan.Goalsapplicabletothiseffortinclude:maintainahighstandardandmodernizeMaryland’smultimodaltransportationsystem;ensureasafe,secure,andresilienttransportationsystem;includespecificstrategiessuchastoimplementCAVpilotsandsupportCAVtestingthroughpartnerships;buildCAVrealworldexperience;andattractpartnerinvestmentinMaryland.In2015,MarylandTransportationSecretaryPeteRahnestablishedthe“CAVWorkingGroup”asthecentralpointofcoordinationforthedevelopmentanddeploymentofemergingCAVtechnologiesinMaryland.TheWorkingGrouphandlesstrategicplanningforMDOTconcerningconnectedandautomatedvehicles,andincludesadiversemembershipoftransportationstakeholders,includingelectedofficials,stateandlocalagencyrepresentatives,highwaysafetyorganizations,andrepresentativesfromtheprivatesectorandautomotiveindustry.ThroughtheWorkingGroup,aCAVVisionwasfoundedthatstatesinpart,Marylandisopenforbusinessandeagertosupporttheadvancementofautomateddrivingsystemstorealizethepotentiallife-savingandeconomicbenefits,whileensuringsafetyforall.MDOTmaintainsthatcollaborationatalllevelsisthekeytorealizingthebenefitsintheCAVspaceandtotrulyrealizethepotentialtoonceagaintransformmobility.
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TheADS-HEROTeamincludesmembersoftheMarylandCAVWorkingGroupandspecificallymembersoftheEmergencyResponderSubGroup,whichprovidesamechanismtoaddressemergencyresponderquestionsandconcernsaboutoperationalresponsesofhighlyautomatedvehicles.Accordingly,theTeamwillshareprojectactivities,includingspecificdevelopmentandtestingmilestones,withtheWorkingGroupinordertofacilitategreaterexchangeamonggovernmentandindustrypartnersaboutCAVdeploymentsinMarylandduringtheQuarterlyWorkingGroupmeetings.Figure4providesanillustrationofMarylandCAVWorkingGroupMembershipandfunctions.
Figure4.MDCAVWorkingGroup
1.3FOCUSAREASAsADSareintegratedintotheNation’stransportationsystems,theywillinevitablybecomeapartofanapproachtoroadwayincidentmanagement.Fromadisabledvehicletoacrash,ahazardousmaterialspilltoanaturaldisasterscene,anADSequippedvehiclewillencounteremergencyrespondersservingthepublicinteresttorescuepeopleandproperty.TheADS-HEROprojectisdesignedtocreateasignificantpublicbenefitinanareaoftransportationoperations(emergencyresponse)thatrarelyseesprivateinvestmentbutprovidesaservicetoallcommunities–ineverytypeofgeographicareaandpopulation,whetherusingpublicorprivatetransportforthemovementofpeopleorgoods.TheobjectivesoftheADS-HEROprojectdirectlycomplementandinformtheexistingU.S.DepartmentofTransportation’sDevelopmentofCooperativeAutomationCapabilities:IntegratedPrototypeIIprogram(ContractDTFH61-16-D00030)CARMA3platform.CARMAenablestheresearchanddevelopmentofcooperativeautomateddrivingsystems(CADS)capabilitiestosupporttransportationsystemsmanagementoperations(TSMO).Theproposed
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demonstrationscenarioswillprovideADSdevelopersandstateandlocalagencieswithrelevantdatatoidentifymodificationstoexistingtrafficincidentmanagementsystems(TIMS)andvehiclecapabilitiesthatmayberequiredasADSvehiclesbecomemoreprevalentonroadways.Inaddition,thisnovelresearchwilladdresstheconcernsandknowledgegapsoftheemergencyrespondercommunityregardingtheperformanceofADSvehiclesintrafficconflictscenarios.ADS-HEROresearchpriorities,whichareconsistentwiththeaforementionedobjectives,includethefollowing:
1. ProvidingacollaborativedemonstrationtestsiteforADSdeveloperstodemonstratetheirdesignresponsecapabilitiestoemergencyroadconditions.
2. FamiliarizingemergencyresponderswiththeemergingADStechnologyandthepotentialimpactofthesetechnologiesontheiroperationsinemergencysituations.
3. Capturingdetaileddataonhuman(bystander,occupantandemergencyresponder)interactionswithADStechnologies.
4. CapturingrelevantdatathatwillassistinrecalibratingtheTIMsandTSMOformulasforincidentduration,delaysandclearancetimes.
5. SharingresearchfindingswithADSdevelopers,includingdatarelatedtotheirparticularvehicledesigninordertofacilitateadvancementofADSresponsestoemergencyroadconditions.
6. DocumentingdatatosupportADSdeveloperincorporationofconnectedvehicleconceptsincludingapplicationssupporting“smartworkzonetechnologies”capableofalertingemergencyrespondersofapproachingvehiclesaswellasnotifyingupstreamconnectedvehiclesofchangedroadwayconditionssuchasthepresenceofemergencyresponders,temporaryroadorlaneclosure,needtomerge,ortheneedtoreducespeed.
7. Incorporatingthetestingoflow-cost,“proof-of-concept”ideasfordetectingvehicles,pedestrians,cyclists,andotherobjectsintheroadwayandincrosswalks,whichmayincludetheuseofvideocamerasandopen-sourcesoftwareforvehicleandobjectdetectionandsendingbasicsafetymessages(BSM)toconnectedvehicles.
Thedataalsocouldbeusefulforpredictingcrashfrequency/probability–e.g.,modelingthelikelihoodofcrashesbasedonavarietyofinputdata,includingworkzonecharacteristics,roadgeometry,weather,trafficflowparameters,etc.,andidentifyingriskfactorsinandaroundworkzonesandincidentscenes.Furthermore,thedatacanbeprocessedtoenabledecisionsupport,e.g.,AdvancedDriverAssistanceSystems(ADAS)andwillbeorganizedforlong-termstorage.1.4DEMONSTRATIONREQUIREMENTSTheADS-HEROprojectwillincludephysicaldemonstrationscenariotestingofADSvehicleperformanceattheATCtesttrackandmaygraduatetoreal-worldonroadtesting.ThedemonstrationtestingwillincludeADSatLevel3orgreaterandisintendedtocreateopportunitiesforiterative(annual)testcyclestodemonstrateimprovementsintheautomationtechnology.AllofthetransportationperformanceandhumanfactorsdatacollectedwillbeanonymizedandsharedwiththeUSDOTthroughCATT.IftheADS-HEROTeamisauthorizedby
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ADSdevelopers,anonymizedADSandvehicledatawillalsobecollectedandshared.TheproposeddatamanagementplanandcommitmenttodatasharingisdiscussedinPart3ofthisapplication.Pleasenotethatunderourdatamanagementplan,wearecommittedtoprovidingUSDOTwiththerequireddataaccessibilityasdescribedinAmendment1totheADSNoticeofFundingOpportunity.InordertoexaminetheperformanceofADSvehiclesduringtrafficincidents,theADS-HEROprojectteamproposestousealoopedcourseonaclosedtesttrack,withmultipledemonstration(emergencyroadway)scenariosthroughwhichavarietyofADSvehicleswillproceedwherehuman(emergencyresponder,occupantandbystander)andmachineresponsesarerecorded.PhysicaldemonstrationtestswillbeconductedattheATCwithSAELevel2through4ADS.EarlyinthedevelopmentofADS-HERO,invitationswillbesenttoADSdeveloperstoincreasethepoolofparticipantADSvehicles.Acombinationofinitialfocusgroupswithemergencyresponders,recordedobservationofADS-emergencyresponderinteractionsduringthedemonstrationscenarios,andstructuredinterviewswithparticipantsfollowingthedemonstrations,willidentifykeyfactorsthatmayneedfurtherattentiononthepartofADSdevelopers,TIMSandTSMOstaff,andemergencyrespondersinordertobetterprotectrespondersandthepublicfromunanticipatedconsequencesofADSintegrationinthenation’sroadwaysystem.Throughthefocusgroupdiscussions,observations,andstructuredinterviews,theADS-HEROprojectteamwillgaintheopportunitytosharewiththeADSstakeholdercommunityadeeperunderstandingofADSoccupantandemergencyresponderperspectivesonsafety,expectedbehaviorofthevehicles,concernsaboutwhataspectsoftheinteractionsmightbeproblematic,andhowtrainingoroperationalproceduresmayneedtobeimprovedtoaccommodatethisnewtypeofinteraction.AstheADS-HEROprojectdatasetisenriched,theprojectteamwillbeabletosharetheinsightsgainedatavarietyofnationalconferencestosupportdiscussionsonpotentialusecasesforADSdeveloperstoinvestigateorpotentialemergencyresponseprocedurestobeadapted.Astheprojectnearsitsend,theindividualADS-HEROpartners,participantsandstakeholdersmaybeabletoincorporatetheprojectresultsandlessonslearnedintothetrainingprogramsandstandardoperatingproceduresoftheirspecialtyareas.1.5APPROACH1.5.1TechnicalApproachSummaryTheADS-HEROprojectplanisintendedtoadvanceADSresponsetoemergencyroadwayincidentswithafocusonADSinteractionswithemergencyresponders.ThroughtheuseofFocusGroups,theADS-HEROprojectteamwillcollaboratewithADSdevelopers,transportationandemergencyrespondersandotherstakeholderstofurtherexplorethecurrentstateofknowledge,developtheproposeddemonstrationscenarios,identifyareasofconcernandtherelateddatacollectionpointswhichcouldbeutilizedtoadvancethestateofknowledgeand/
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ordevelopADStechnologyadvancements.TheFocusGroupworkwillinformthedevelopmentoftheannualdemonstrationscenariotestplan.Eachyear,adetailedfieldplanofthetestsitewillbecreatedwithatestcourseplottedthroughasmanydemonstrationscenariosasarereasonable.Theplanwillbeutilizedtoconductsafetyreviews,toprepareequipmentandmaterialplansincludingvehicleandcourseinstrumentationandtostructurehumanparticipationplans.AusecaseproposalwillbepreparedandincludedininvitationsforparticipationsenttoADSdevelopers.TheADS-HEROprojectteamhasaccesstoanumberofADSvehiclesandwillseektoexpandtheADStestvehiclepoolbeyondthoseownedorunderdevelopmentbyADS-HEROpartners.DatacollectedduringtheweekoffieldtestingatATCwillbeanalyzedandfollowupstructuredinterviewswillbeutilizedtoidentifyareaswhereADSperformanceatemergencyincidentsisappropriate,whereitcouldbeimprovedandwhereemergencyresponseprocedurescouldbemodifiedtoaccommodateADSlimitations.TheADS-HEROTeamwillsharetheknowledgegainedeachyearwithemergencyresponderandADSdeveloperpartnersandstakeholderstostructureADStechnologyimprovementproposalsandtodevelopmodifiedemergencyresponseprocedures.TheADS-HEROprojectcyclewillberepeateduptothreetimesduringtheperiodofperformance.TheADS-HEROTeamwillworkwithstakeholderstosupporttheadvancementofADStechnology.Inaddition,betweentheannualweek-longdemonstrationscenariotesting,theADS-HEROTeamwillconductworkatWestattoguideimprovementstothehumanandADSinteractioninterfaceandatUMDCATTtodevelopV2VandV2XsolutionsthatfacilitateimprovedADSresponsestoroadwayincidentsandemergencyresponseoperations.Throughouttheyear,laboratoryanddemonstrationtesttracksoutsideoftheprimarytestingareaattheU.S.ArmyAberdeenTestCenterwillbeavailabletotheADS-HEROTeamfordevelopmenttestingofADStechnologysolutions.1.5.2FocusGroupsFocusgroupscanprovidecriticalinformationthatresearchers,manufacturers,andregulatorsneedtobetterunderstandanddefinetheconcernsofemergencyresponders.Thefocusgroupefforthastwobroadobjectives:(1)toprovideabasisforthehumanfactorsdatacollectedinthedemonstrationscenarios;and(2)toprovideadditionalinsightintoissuesthatmaynotbefullyaddressedbyobservationalone.Regardingthefirstobjective,thefindingswilladdressthestateofknowledgeofautomatedvehicles,andtheconcernsandexperienceofpoliceandfire/rescuestaffastheyperformtheirduties.Regardingthesecondobjective,wecanexploreinmoredetailpeoples’specificapproachestotheirtasks,andhowautomatedvehiclefeaturesmayaffecttheirapproachorbehaviors.Byconductingfocusgroupspriortotheobservationalstudiesconductedduringthedemonstrationscenarioseachyear,wecanalsogaugechangesinthelevelsofunderstandingofautomatedfeatures,andemergencyrespondersexposuretosuchfeaturesovertime.Thisinformationwillsupplementwhatwesubsequentlycollectintheobservationalstudieseachyearandhelpintheinterpretationoffindings.
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ADS-HEROTeamMemberWestat,withsupportfromotherADS-HEROTeammembers,willberesponsiblefordevelopingandimplementingthefocusgroups,instrumentingthevehiclesandenvironmentduringthedemonstrationscenarios,andconductingstructuredInterviewsofparticipants.ThefocusgroupparticipantswillbedrawnfromtheADSdevelopers,transportationandemergencyrespondercommunity.Atotalofnineparticipantsfromthecommunitywillbeincludedineachofthetwofocusgroupsconductedeachyear.Adetailedmoderator’sguidewillbedevelopedincludingthequestionpathtobeusedduringthefocusgroupsessions.Asneeded,thequestionswillbemodifiedslightlytoreflectconcernsofaspecificcommunityfocussuchastransportationsystem,vehicledevelopmentoremergencyresponse.Themoderator’sguidewillbesharedwiththeContractingOfficer’sRepresentative(COR)andrefinedaccordingtoeditsandsuggestions.Ahotelconferenceroom,orothersuitablefacilitywillbereservednearpartnerlocationstoassistinrecruitingparticipants.Westat’snormalpatternofensuringreliablearrivalforscheduledsessionsincludesemailingoutaconfirmationletterthatincludesthescheduledtimeandlocationofthefocusgroup.Itwillalsoincludedirectionstothesiteandacontacttelephonenumberincaseofcancellationorquestions.Westatalsomakesremindercallswithin24hoursofthescheduledsessiontosignificantlyboostthelikelihoodofsubjectskeepingtheirappointments.Attheendofeachfocusgroupeacheligibleparticipantwillbegivenanhonorariumof$75inordertocompensatefortheirtime.ThefocusgroupswillbeconductedbyexperiencedfocusgroupmoderatorsfromWestat’stransportationresearchteam.USDOTpersonnelwillbeinvitedtoobservethesessionsifdesired.Eachsessionisexpectedtolastapproximately90minutes.Westathasfoundthataudioand/orvideorecordingisessentialforaccuratelysummarizingkeyissuesdiscussedduringthefocusgroups.Discussionwillbecodedoff-linefromtherecordingsandcompiledalongwithnotesfromthemoderatorandotherobservers.Recordingswillbedestroyedattheconclusionoftheprojecttokeepparticipants’identitiesandpersonalresponsesconfidential.Thefocusgroupdiscussionwillbecodedandanalyzedtoidentifykeythemes,responsestospecificquestions,andnewissuesraised.ReviewandinterpretationofthefindingswillbedocumentedandsharedwiththeADS-HEROTeamaswecompleteplanningfortheobservationalphase.Westatalsowillparticipateinclientmeetingstodiscusstheimplicationsofthefindingswithregardtotheobservationalstudymethodsandtheoveralllevelsofknowledgeandconcernofemergencyresponders.1.5.3DemonstrationScenariosTheADS-HEROdemonstrationscenariosarestructuredtoprovideinsightintoADSperformanceduringeverydayroadwayincidents.Theseincidentsmayincludelaneorroadwayobstructions,detours,ornon-standardtrafficcontrolincludingtheuseoflights,sirensorhandsignalsbyemergencyresponders.TheADS-HEROTeamanticipatesestablishingatestcourseplotted
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throughasmanydemonstrationscenariosasarereasonableontheATCtesttrackforatleastoneweekeachyear,beginninginthesecondyearoftheproject.Datafromthefocusgroups,vehicleandinfrastructureinstrumentationandhumanfactorsresultsfromeachprecedingyearwillinformthedemonstrationscenariosestablishedonthetestcourseforthefollowingyears.TheADSvehiclescurrentlyavailabletotheADS-HEROpartnersinclude:
● Westat’sCadillacCT6,aLevel2vehicle● UMDsplannedADStestvehicle,aLevel3vehicle● LocalMotors’Olli,aLevel4/5vehicle,whichcarrieseightpassengersprovidingarich
potentialsourceofhumanfactorsresponses.TheADS-HEROprojectteamhasaccesstoanumberofADSvehiclesandwillseektoexpandtheADStestvehiclepoolbeyondthoseownedorunderdevelopmentbyADS-HEROpartnerslistedabove.Westat’sCadillacCT6isoutfittedwithhumanfactorsassessmentequipment,includingeyetracking,multiplecameras,GPS,rearradar,forwardvisualsensing,andprocessingofvehicleandtargettrackingCANdata.TheCT6providesasafe,instrumented,semi-autonomous,commerciallyavailablevehiclethatwillbeusefulfordevelopingthedatacollectionprotocolfortheothervehiclesinthetestscenarios.WeanticipatethatthelevelsofvehicleautomationavailabletotheTeamwillincreasewitheachphaseoftheproject,allowingforcontinuoustestingwiththemostadvancedtechnologiesfromcommercialleadersintheADSfield.Inaddition,ADS-HEROprojectteammembershavehadconversationswithmultipleOEMswithADSLevel3orhighervehicleswhohaveindicatedtheirpotentialinterestinworkingwithus.Specifically,bothWaymoandtheAutonomousVehicle(AV)LeadwiththeFordMotorCompanyhaveindicatedtheirwillingnesstoworkwithusuponaward.DiscussionswithOEMshavealsoincludedthepotentialdemonstrationofADSinheavy-dutyvehicles,includinglargercommercialvehicles.TheADS-HEROTeamanticipatesasingleADSdeveloperwillbepresentduringanyindividualtestperiodtoensurethatproprietaryoperation,configuration,andperformancedataarenotrevealedtocompetitivemanufacturers.TheADS-HEROTeamhasextensiveexperienceworkingwithandmaskingmanufacturers’confidentialdata(CBI).PreferencewillbemadetoincludeinthedemonstrationtestsvehiclesmanufacturedinAmerica.TheADS-HEROTeamdoesnotanticipaterequestingexemptionstotheBuyAmericanAct1asthepurchaseofADSvehiclessolelyforuseaspartoftheADS-HEROprojectisnotanticipated.DemonstrationscenarioswillemphasizeinteractionoffirstrespondersandfirstresponderequipmentwithADS.Theinitialdemonstrationscenariosproposedinclude,butarenotlimitedto,thefollowing:
1 Buy American Act, 41 U.S.C. §§ 8301-8305, as implemented at 48 C.F.R. Subparts 25.1-25.2
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Scenario1–LeveragingADSforIncidentScene“Approach”DemonstrationsScenario1willinvolveanADS-equippedvehicleapproachinganincidentscenewherealaneofamulti-lanehighwayisoccupiedbyadisabledvehicle(withoutanADS)orotherroadwayobstruction(debris,pedestrian,vehicle/equipment).Thisapproachwilloccuratvaryingspeeds,includinghighwayspeeds.BothADSresponses/actionsandhumanparticipantresponsestotheADSwillbedocumented.Supplementalscenariosincludebutarenotlimitedto,thedisabledvehicle(s)oremergencyresponder(s)onscenebeingcapableofand/ortheADSbeingcapableofV2V/V2Xcommunications.Scenario2–LeveragingADSfor“MoveOver”DemonstrationsScenario2willinvolveanADSequippedvehiclebeingapproachedbyanemergencyvehiclewithlightsactivated,sirensoptional.Supplementalscenariosinclude,butarenotlimitedto,theemergencyvehicleand/ortheADSbeingcapableofV2V/V2Xcommunications.Scenario3-LeveragingADSfor“PullOver”DemonstrationsScenario3willinvolveanADSequippedvehiclebeingapproachedbyapolicevehiclewithblueandredlightsactivated,sirensoptional.Supplementalscenariosinclude,butarenotlimitedto,thepolicevehicleand/ortheADSbeingcapableofV2V/V2Xcommunications.Scenario4-LeveragingADSfor“Compliance”DemonstrationsScenario4willinvolveanADSvehicleapproachinganincidentsceneandbeingdirectedbyemergencyresponderswithhandsignalsorotherdevicestoproceedthroughoraroundtheincidentscene.Supplementalscenariosmayinclude:ADSbeingdirectedtodetourorgoaroundinwaysthatwouldviolatethe“normal”rulesoftheroad:deploymentoffullworkzonetrafficcontrolaswouldbeprovidedatlongtermincidentscenes;and/orleveragingV2X“smartworkzonetechnologies.”ADStechnologiesthatmaybetestedduringthedemonstrationscenariosincludesensors,programmedresponsesandAIcontrolresponsestoavarietyofusecases:
● ObjectRecognition-emergencyresponders,emergencyvehicles,otherconditions● ProgrammedResponses-moveover,pullover,etc.● ControlResponses-obstructedroadway,handsignals,temporarytrafficcontrols,etc.
TheADS-HEROTeamanticipatesthatmostADSdevelopershaveinstrumentedtheirvehiclesandcontrolsystems.IftheparticipantsagreetosharingtheirdataorpermittingtheADS-HEROTeamtoinstrumenttheirADSvehicle(s),theATCteamisabletocollectandstoreControllerAreaNetwork(CAN)busdataandtheCATTteamisabletocollectandstorecontrolsystemdata.TheADSdeveloperdatathatisnotsubjecttoanon-disclosureorproprietaryagreement,willbesharedwiththeUSDOTasdiscussedintheDataManagementPlan.1.5.4InstitutionalReviewBoardForanyresearchinvolvinghumansubjects,approvaloftheplanmustbeprovidedfromaqualifiedInstitutionalreviewBoard(IRB),inordertoensurethatthesafetyandprivacyofresearchparticipantsisprotected.TheUMD’sIRBisaspeciallyconstitutedreviewbody
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establishedtoprotecttherightsandwelfareofhumansubjectsrecruitedtoparticipateinanybiomedicalandbehavioralresearchconductedbytheuniversity.TheIRBistheentityresponsibleforensuringthatstudiescomplywithallFederalregulatoryandethicalstandardsissuedbytheOfficeofHumanResearchProtections(OHRP)intheU.S.DepartmentofHealthandHumanServices.Allstaffmembersareformallytrainedannuallyintheprotectionofhumansubjects,aswellasotherpertinenttrainingsuchasresearchmisconductandHIPAA-relatedprivacyandsecurity.Priortoconductingthisresearch,materialsandproceduresmustbedocumentedforInstitutionalReviewBoard(IRB)reviewandastructuredprotocolmustbecreated.Thematerialswillincludeconsentformsforfocusgroupanddemonstrationscenarioparticipantsandadetailedprotocolfortheconductofthedemonstrationscenarios.ThedocumentsdevelopedwillbesharedwiththeCORandrefinedasneededtoprotectstudypersonnelfromharm.OncetheIRBapprovesthefieldtaskproceduresandprotectionstohumanparticipants,projectstaffcanbegintoorganizeandconductthefocusgroups,andpreparationsforthetesttrackdemonstrationsandstructuredinterviews.1.5.5HumanFactorsResearchHumanfactorsmonitoringtechnologiessuchasin-vehiclecameras,andexternalcameraswillbeusedtodetecttheeffectsofADSonvehicleoccupantsandemergencyresponderstodeterminetheefficacyofeachdeployedsolution.WestatwillinstrumentparticipatingADSvehiclestocaptureoccupantimpressions/behaviorandADSvehiclebehavior.SelectADSandemergencyrespondervehiclesthatbelongtotheADS-HEROprojectteamwillbeinstrumentedtocollectoccupantresponses.Westat’sinstrumentationwillbedesignedtobeself-containedandself-powered,withnoconnectiontoavehicle’s(CAN)bus,toavoidanyunintendedinteractionswithATCinstrumentationoravehicle’sADS.WestatwillworkwithATCtocoordinateinstrumentationplansduringseveralplanningvisitstoAberdeen.InordertomonitorandrecordemergencyresponderandADSoccupantbehaviorsduringthedemonstrationscenariotesting,WestatwillinstrumentADSandemergencyrespondervehicleswithasuiteofcamerascapableofcapturingaudioandvideofrominsidethevehicleaswellasGPStoprovidecommontimeandlocationcontext.RaspberryPi-baseddatacollectionmoduleswillallowaverysmallcomputertobeplacedinthecarsforquickandrelativelysimpleinstrumentationpurposes.Westathasusedsystemsliketheseforextendedstudiesinpeople’snewvehicleswithmultiplecameras(upto3)foraudioandvideocaptureofmultipleperspectives,GPS,cellularhealthmonitoring,CANbusmonitoring,accelerometerdata,anduserinputs.ThoughtheCANcapturewillnotbepartofWestat’sinstrumentationplanforthiseffort,theremainderofthesecapabilitieswillbeinplacetoallowreliabledatacapturefromtheinteriorofthevehicle.Thesesystemsarehardyandhaveafoundationalsoftwareandhardwaresuitethatallowscustomizationfordatacollection,processing,andoutputreviewandanalysis.Enclosuresandmountinginterfacesareoftencustom3Dprintedtoallowconsistent,appropriate,andrepeatableaimingofeachcameraview.Flexiblemountsinsidethevehiclecabmaybereconfiguredbetweenscenariooperationstoensureidealcontextcaptureforforwardorrearapproachsituations.
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Eachyear,Westatwillbuildandtest3instrumentationpackagesintheirRockvillelaboratorypriortotheirdeploymentinvehiclesattheATC.Somesoftwareupdatestoexistinginstrumentationcodemayberequiredeachyeartoaccommodatechangesinpriorityfordatacapture,and3Dprintedcomponentswillprovidethenecessaryaimandfunctionalitytothediscreteinstrumentationpacks.Thoughthesesystemsaretypicallypoweredbytheon-boarddiagnostics(OBD)portvoltagesource,Westatwillprovidebatterypowerforallitsdatacaptureneedsforthiseffort.1.5.6VehicleandInfrastructureInstrumentationPriortoconductingdemonstrationscenariotestsatATC,avehicleandinfrastructureinstrumentationplanwillbedevelopedtomonitorandrecordrelevantactivity.Aspreviouslynoted,participatingADSdevelopersmayrestrictaccesstotheirvehicleandproprietarydata.Whenpermitted,ATCwillinstallaCANbustocollectvehicledata.WorkinginconjunctionwiththeATCandtherestoftheADS-HEROTeam,WestatwillinstrumentADSvehicles,andwhereappropriateemergencyrespondersandtheirvehiclesforhumanfactorsdatacollectiononthemorningofeachdemonstrationscenariotestdayattheATC.TheworkwillinvolvepersonalaccessoriessuchasGoProandbodycameraswithaudiocapabilities,andtheloadingintovehiclesofself-containedinstrumentationpackagesthatprovidespower,cameras,cabling,sensors,andcomputinghardwarethatcanbedeployedandsecurelymountedinamatterofminutes.Thepackagewillfitinoneoftheseatingpositionsofthevehicleandwillallowcameraextensiontoforward,rear,safetydriver/occupant,and/orotherrelevantpositionsneededtocapturekeyelementsofinteractionsinsideandoutsidethevehicle.Wehopetobeabletoleveragebody-camandin-vehiclecamerasthatareusedbeemergencyrespondersaswell.Thatis,weintendtohaveresponderscapturewhattheyaredoingandsayingduringthescenariostocapturethebestpossiblevideoandaudioqualityattheinterfaceofrespondersandADSvehicles.Westatcanthendownloadandarchivethatdataforarchiving,review,andanalysis.GoProscanbeusedtosupplementthosecamerastocapturemoreoftheobservationviewoftheunfoldingscenarioactivities.Thesecamerascouldbeattachedtothedisabledorotherwiseunequippedrespondingvehicletocomplementtheexistingfootage.Inadditiontothein-vehicleinstrumentation,Westatproposestouseaerialvideographyofthedemonstrationscenariotestingtocaptureabroadviewofthescenariooperationsandtheinteractionsthatoccur.TheaerialvideographymaybelimitedbyairfieldairtrafficcontrolrulesastheATCtestcoursesurroundsthePhillipsAirfield.Tethered,video-capabledroneswillbeplacedatthelocationswherekeydemonstrationscenarioactivitieswilloccur.ThedroneswouldprovideanelevatedplatformfromwhichemergencyrespondersandADSvehiclesapproaching,respondingtoanddepartingfromanincidentscenecouldbeobservedandrecorded.Camerasincludepanandzoomcapabilitiestoframekeyinteractionsinthevideo.ThedronecamerasareexpectedtoprovideflexibilitytoenhanceATC’sbuilt-inCCTVsystemcoverage,permittingstagingofidealapproachangles,framing,andfollowingofmaneuversastheyunfold.A50-100’elevationshouldprovideexcellentvisibilityofscenarioprogressionand
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responderactivity.TheWestatbudgetincludeslineitemsforpurchaseorrentalofvideocapabledronesaswellaspersonneltooperatethemduringtheannual,weeklongdemonstrationtestingattheATC.1.5.7RiskIdentification,MitigationandManagementTheATCsubjectseveryprojecttoaHazardAnalysisWorkingGroup(HAWG)review.TheHAWGiscomprisedofATC’ssafety,environmental,andtestitemspecificsubjectmatterexperts(SME).TheHAWGidentifiesprojecthazardsanddevelopsmitigationsthenpreparesariskassessmentreport.TheATCCommanderreviewstheriskassessmentreportpriortoissuingago/nogodirectivefortheproject.TheATCprovidesasecure,controlledenvironmentfortestinganddocumentingADSvehicleandemergencyresponderinteractionsandresponses.TheclosedsettingoftheATCtestcoursewillallowfortestingofvehiclesthatarenotyetcertifiedasFederalMotorVehicleSafetyStandard(FMVSS)compliant.Tocomplywithsafetyprocedures,theADS-HEROTeamandspecificallytheATC;willworkwitheachADSdeveloperparticipanttoestablishanATC“killswitch”controloneachADSvehiclethatentersthetestcourse.1.5.8FieldTestingADS-HEROpartner,MDTA,alongwiththerestoftheADS-HEROTeam,willworkwithATCtodevelopadetailedfieldconditiontestplanoftheproposeddemonstrationscenariosincludingplacementofroadwayequipment,vehicles,andpersonnel.MDTAwillworkwithAnneArundelCountyFireandothertransportationandemergencyresponsestakeholderstodeploytheappropriateroadwayandemergencyresponderequipmentandpersonnelonthemorningofthefirstdayoftestingatATC.Atthesametime,agroupofWestat,CATTandATCpersonnelwillworkwithemergencyrespondersandthefirstADSparticipanttoinstallinstrumentation.ItisanticipatedthateachADSparticipantwillbeonthetestcourseforahalfdayandthatthenextparticipantwillbeinstrumentedwhilethepreviousparticipantistesting.AnoperationalbriefingwillbeconductedwitheachADSparticipantpriortobeginningeachdemonstrationscenariotestingperiodonthetestcourse.Videoanddynamicdatawillbecollectedcontinuouslywhilethedemonstrationscenariotestingisunderway.WithADSdeveloperapproval,arespondermaybeinvitedtorideintheADSvehicleduringthedemonstrationscenariotesting.TheseADSoccupantswillbeaskedtousecommonthink-aloudproceduresforverbalizingwhattheADSappearstobe“seeing/doing”,whattheyareexperiencing,andtheirimpressionsoftheADSfunctionalityasitgoesthrougheachdemonstrationscenario.OverthecourseoftheADS-HEROproject,dependingonthesuccessofeachADStonavigatethedemonstrationscenariotestcourse,thecomplexityofthevehicleorpedestrianconfigurationsforeachscenariocouldbeincreased.Forexample,addingmultiplestoppedvehiclestoan“approach”scenario;addingsurroundingtraffictothescenario;creatingmoreextensiveorshiftinglaneblockages;orincludingpedestrianinteractionscouldbeaddedduringlatertrials.Attheendofthedemonstrationscenariotestingperiods,theADS
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occupantsandemergencyresponderswillbedebriefedviastructuredinterviewstoascertainimpressionsofhowtheADSperformedandtheirreactionsandconcerns.1.5.9StructuredInterviewsFollowingthetesttrackobservationalstudies,theWestatteamwillconductstructuredinterviewswiththeparticipatingemergencyresponderstogathertheirperceptionsoftheeventsinordertounderstandtheirapprehensions,andanymodificationstheymaysuggesttotheirstandardprotocolsbecauseofthepresenceofautomatedvehicles.Specifically,theseinterviewswillbeconductedtogatherinformationonthepotentialroleADSvehiclesmayhaveonemergencyrespondersafetyandbehaviors.Theinterviewswillbeconductedon-siteattheATCimmediatelyfollowingADSfieldtestswhenpossible.Intheeventthatemergencyrespondersarenotavailable,follow-uptelephoneinterviewswillbeconducted.Examplesofthetypesofdatathatmaybeobtainedfromstructuredinterviewsincludethefollowing:
● Sourcesofinformationusedbyemergencyresponderstolearnaboutautomatedvehicles.
● ChangestotheirimpressionofADSbaseduponthedemonstrationsscenariotesting.● ReviewofmethodsusedtoidentifyADSinthefield● ReviewofareaswhereADSresponsetoemergencyresponseprocedureshouldbe
modified● Reviewofareaswereemergencyresponderstandardoperatingproceduresmayneed
tobemodifiedtoaccommodateADS● ConcernsaboutAVsandperceivedrisks.
Informationgatheredfromstructuredinterviewswillbeincorporatedintoaqualitativedataanalysestoaccompanythedemonstrationscenarioreports.1.5.10DataAnalysisandReportingSignificantchallengestobeaddressedaspartofproposedADS-HEROdemonstrationsincludetheeffectiveuseofADSequippedvehiclestosuccessfullynegotiateroadwayincidentscenesfromrespondingappropriatelytoanemergencyvehicleapproachingfrombehindtofollowingon-sceneemergencyrespondertrafficcontroldirections.TheADSmustinteractwithemergencyrespondersandcomplywithnon-standardroadwayconditionswithoutcausingadverseresponsesfromoccupantsandotherroadwayusers.TheADSresponsesmayhaveunintendedandnegativeconsequencesontheADSoccupant,emergencyresponders,andotherroadwayusers.ADSresponsesespeciallyresponsesthatresultinorrequiretheADSoccupanttoassumecontroloveranADSvehiclemayresultinadangerousoutcome,appreciablydelayemergencyresponseactivitiesand/ornegativelyaffecttransportationsystemperformance.AnticipatedADSperformancemeasuresfortheADS-HEROprojectthatwillbeaddressedintheanalysismayinclude,butarenotlimitedto:
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● Identificationofdisabledvehicles(orotherobstructions)inalaneoftravelbyapproachingADSequippedvehicles(withoutactiveconnectedvehicletechnology)
● IdentificationofrespondervehiclesinthelaneoftravelbyapproachingADSequippedvehicles(withandwithoutactiveconnectedvehicletechnology,V2V/V2X)
● Identificationofpedestrians/respondersinthelaneoftravelbyADSequippedvehicles(withandwithoutactiveconnectedvehicletechnology,V2V/V2X)
● OccupantresponsetoADSactions● ADSvehicleresponses
○ Followedexpectedcourseofaction○ Stoppedandwaited○ Stoppedandattemptedtopullover
Stoppedandattemptedtorequestoccupanttakeoverasdriverorcontactedoperationscenterforguidance
○ Tookaninappropriateaction● ADSresponseimpactonemergencyresponseprocedures● ADSresponseimpactontrafficincidentmanagementprocedures● ADSresponseimpactontransportationsystemsmanagementandoperations
performancemeasuresThevideoanddigitaldatawillbeaggregatedforagivenADSvehiclesessionandcodedintermsofADSvehicleandemergencyrespondervehicle(s)andpersonnelactionsintheparticulardemonstrationscenario.Thecontext/aerialcameravideowillbelinkedtothevehiclevideotoprovideanotheraspectofthevehicleinteractionforreviewandanalysis.Eachsession’sdataandvideowillbereviewedseparatelyandthenconsideredinconjunctionwiththeothersessionstocreateanoverallreviewofresultsandconclusionsfromtheinteractions.Asummaryreportwillbepreparedwithintwomonthsaftereachweekoffieldtestingthatdescribesthespecificsimulateddemonstrationscenariosandsummarizesresultsandconclusionsfromahumanfactorsperspective.AttheendoftheprojectanaggregatedreportwilldescribethetrendsinthedemonstrationdatafromyeartoyearandwithrespecttoADSresponsestoparticulardemonstrationscenarios.Thiswillprovidepertinentoutcomesandlessonslearned.1.5.11AdvancingADStechnologyTheADS-HEROprojectteamwillutilizethedemonstrationscenarioreportstofacilitatethesafeintegrationofADStechnologyuntothenation’sroadwaysthroughavarietyofmechanismstoimproveADSperformance,toimproveemergencyresponseproceduresandtoimprovetransportationsystemmanagementandoperations.TheADS-HEROprojectteamwillconductoutreachwithADSdeveloperparticipantstodiscussareaswheretheADSresponsenegativelyaffectedemergencyresponseortransportationsystemperformanceandidentifypotentialareasforADSperformanceimprovements.TheADS-HEROprojectteamwillalsoconductoutreachwithtransportationandemergencyresponderstodiscussareaswhereemergencyresponseprocedurescouldbemodifiedto
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accommodateADSintegration.TheareaswhereADSdeveloperparticipantsanticipateADSperformancecanbeimprovedoremergencyrespondersanticipateproceduresshouldbemodifiedwillbeincorporatedintothenextyear’sdemonstrationscenarios.TheADS-HEROTeamwillalsoworkindependentlyfromtheADSdeveloperstocreatepotentialV2VandV2XsolutionsforthesafeintegrationofADSuntothenation’sroadway.CATThaspriorexperienceworkingwithemergencyresponderstoutilizenewtechnologies.From2013-2014,CATT,inpartnershipwiththeBattelleCorporation,developedprototypesolutionsaspartoftheResponse,EmergencyStaging,Communications,UniformManagement,andEvacuation(R.E.S.C.U.M.E.)pilot,oneelementoftheU.S.DepartmentofTransportation’sConnectedVehicle/DynamicMobilityApplications(DMA)Program.Theseprototypesolutionsweredesignedtoalertemergencyresponderswhenvehicleswhichcouldposeathreattotheirsafety,enteredapre-defined“incidentzone”.Inaddition,theprototypeincorporatednewAVLfunctionsintoexisting/deployedemergencyrespondersoftwareplatforms(CapWINMobileClient)anduseddashboardcamerastoestablishlane-levelviewsofrespondersonsceneatanincident.Thelivedemonstrationwasasuccessfulexchangeofreal-timeupdateswithemergencyrespondersatthesceneofanincident.CATTwillleveragethetechnologiesdevelopedaspartofR.E.S.C.U.M.E.andincorporatethem,whereappropriate,intotheADS-HEROproject.TheCATTwillalsoacquireaLevel2/3vehicleaspartofaseparateproject.IftheADSgrantisawarded,thepotentialV2V/V2XproductswillbeimplementedandthevehiclewillbeavailableforinclusioninthenextdemonstrationscenariotestingattheATC.PilottestingoftheV2V/V2XproductswilloccurattheCATTandontheUMDCollegeParkcampus.IftheV2V/V2XtestingatUMDincludesoperatingtheADSonapublicroadway,theCATTwillapplytotheMarylandDepartmentofTransportation,MotorVehicleAdministrationforanHAVpermit.Inaddition,anydevelopedV2V/V2XsolutionsdevelopedunderthiscomplimentaryprojectwillbesharedwithUSDOTviaCARMAorWZDx,asappropriate.TheCATTwillbeinvolvedinthecreationofV2V/V2XsolutionsusingtheMarylandStateSystemDevelopmentLifeCycle(SDLC)--aframeworkintendedtoreducetheriskofprojectfailurethroughtheapplicationofincrementalanditerativesolutiondelivery.ThisapproachfocusesonthebenefitsofAgiledevelopmenttoimprovethedeliveryofITdevelopmentprojects.TheSDLCdeliversiterative,rapiddevelopmentandlearningcycles,whichensuresthedeliveryoftechnicalcomponentsmorefrequently,allowingdeveloperstodetectsmallfailuresearly(“failfast:andtreatthemaslearningopportunitiesleadingtoanimprovedproduct.TheCATTinvestigationsintoADStechnologieswillbeginbytranslatingpreviouslydevelopedpreliminaryrequirementsbasedonexistingspecificsystemrequirementsfortheproposedsystemdesignandimplementationofADS-HEROapplicationprototypes.ADS-HEROstakeholderrequirements,usecases,operationalconceptscenarios,andhuman-machineinteractionswillbetransformedintoasetoftechnicalrequirementswithinthecontextoftheconceptualsystemarchitecture.Eachfunctionwillbedefinedinquantifiabletermsthatandwillenablethesystemtoperformdesiredfunctions.Technicalandqualityperformance
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parameterswillbeincludedintherequirementsdocumentssothatoperationalgoalscanbeeasilyidentified.IterativemeetingswiththeUSDOT,theADS-HEROTeamandstakeholderswillbeheldtorefineandsolidifythesystemrequirements.UMDusestheConfluenceJirasoftwaresolutionforAgilerequirementsidentification,softwaredesign,development,anddocumentation.AllpreviouslycreateddocumentsduringtheConOpsdevelopmentwillbeloadedintoJira.Thiswillenabletrackingandtracingofeachsystemrequirement,architectureelement,anddesignelementfromprototypesoriginalstakeholderfeedback,needs,andinput.Jirawillenablefullend-to-endtraceabilityfortheentirelifecycleprocess.1.5.11ProjectScheduleADS-HEROtechnicaldevelopmentwilloccurinphasesthatcorrelatewitheachperformanceyeartestingcycle,asillustratedinFigure3above.WeeklongdemonstrationscenariotestingattheATCisplannedforthesecondthrufourthyears.Annualdataandresultsharingfromthedemonstrationtestsareexpectedtoinformthenextyear’sresearchanddemonstrationplan.Table1presentsanticipatedprojectmilestonesanddeliverables.Phase1TheADS-HEROTeamwillutilizethefirstyearoftheprojecttocreateadetailedresearchplandocumentingtheproposedgoals,theproposeddemonstrationtestingandinstrumentationplanandtheproposedmethodologyforimprovingADSintegrationintothenation’sroadwaysystems.DuringPhase1,theADS-HEROTeamwillassembleandsecureallrequiredtechnicalandphysicalassetsforthedemonstrationtestingincludingpermits,safetyreviews,materialsandequipment.ThedemonstrationscenariosandusecaseswillbedocumentedandinvitationstoparticipateinthefieldtestingwillbesenttoADSdevelopers.Allnecessarylegaldocumentationforliabilityinsurance,individualandagencyparticipationandcostreimbursementwillbefinalized.Phase1willincludeinitialprototypes/iterationsofADS-HEROhardwareandsoftwarewithatrialoftheproposeddemonstrationscenariotestinganddatacollectionatATC.Phase2ThefocusofPhase2willbethefirstweeklong,demonstrationscenariotestingcycleattheATC.TheADS-HEROTeamwillcollectandsharedatafromthefirstdemonstrationtestcyclewithemergencyrespondersandADSdevelopers.TheareasofconcernwhereADSdeveloperparticipantsanticipateADSperformancecanbeimprovedoremergencyrespondersanticipateproceduresshouldbemodifiedwillbeincorporatedintothenextyear’sdemonstrationscenariosTheADS-HEROTeamwillalsoworktoimplementadditionaltechnicalcomponentsandsupplementalscenarios;totheyearthreedemonstrationscenariotesting,toaddcomplexityandfurtherinformresearchfindings.PotentialADStechnologysolutionsincludingV2VandV2Xprototypeswillbedevelopedandlabtested.
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Phase3Phase3willbuilduponthefindingsfromPhases1and2,andcontinuetechnicaldevelopmentforadditionalfieldtestingatATC.Inaddition,initialfieldtestingofpotentialADStechnologysolutionsdevelopedaspartoftheADS-HEROprojectmaybeconductedduringtheweeklongdemonstrationscenariotestingatATC.TheADS-HEROTeamwillcontinuetoworkwithallpartnersandstakeholderstodevelopenhancementstoeachtechnicalelement.Inaddition,theADS-HEROwill,whereapplicable,testadditionalscenariosthatdemonstratemorecomplextechnicalandhumaninteractions.Phase4Phase4willbuilduponthefindingsfromallpreviousfieldtestingatATCandinlieuofcontinuedtestingatATCmayincludeearlyrealworld,trialtestingofthepotentialADStechnologysolutionsdevelopedaspartoftheADS-HEROproject.Aspartofthefinalevaluationreport,theADS-HEROTeamwilldocumentallfindingsfromtheresearchconductedandpreparedetailedreports,presentations,softwaredocumentationandsharing,andidentifyopportunitiesforongoingresearch.1.5.12MilestonesandDeliverablesTable1.ScheduleofMilestonesandDeliverables
TASKS ApproximateDueDate Milestone/Deliverable Section508Compliant?
Kick-offMeeting 3weeksaftergrantaward M No
ProjectManagementPlan 2weeksafterkick-offmeeting
D No
DataManagementPlan 60daysaftergrantawardandcontinuallyupdated
D No
IRBRequestandParticipantConsentForms
75daysaftergrantaward D No
ProjectEvaluationPlan 90daysaftergrantaward D No
FocusGroupModeratorGuideandQuestionPath
120daysaftergrantaward/annualupdates
D No
QuarterlyUpdateswithMDCAVWorkingGroup
Quarterly M No
AnnualBudgetReviewandProgramPlan
60dayspriortoawardanniversary
D No
Annual Budget 45dayspriortoaward M No
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Review and Program Plan Meeting
anniversarydate
REPORTS
QuarterlyProgressReports
30daysaftertheendofthequarter
D No
FocusGroupReports 30daysfollowingconductoffocusgroups/annual
D No
DemonstrationScenariosDataandSummaryReports
90daysfollowingannualcompletionoftesttrackscenarios
D No
FinalEvaluationReport 90dayspriortotheendofthePeriodofPerformance
D Yes
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