demonstrating automated driving systems (ads) through

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: [email protected]

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: [email protected] 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 [email protected] 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. [email protected]

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

The University of Maryland / NOFO Number 693JJ319NF00001 i

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

The University of Maryland / NOFO Number 693JJ319NF00001 ii

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

The University of Maryland / NOFO Number 693JJ319NF00001 iii

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

TheUniversityofMaryland/NOFONumber693JJ319NF00001 1

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.


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


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.


Figure2.ATCHighSpeedTestLoop

1.1.5PeriodofPerformance,ScheduleforImplementationandEvaluationThePeriodofPerformanceforthisprojectisfouryears.Thisincludesfourphasesofoutreach,projectplanning,technologyassemblage,datacollection,analysisandreportingasshowninFigure3.PursuanttotherequirementsoftheADSNOFO,UMDwillensurethatallappropriatedatawillbeaccessibletoUSDOTand/orthepublicforaminimumoffiveyearsfollowingtheexpirationoftheperiodofperformance.

Figure3.ProjectPhasesandPeriodofPerformance

1.2GOALSTrafficincidentemergencyresponsecallsarerising,andthechallengeistosafelymanagetheincidentscenetoprotectemergencyresponders,victimsandotherusersofthetransportationsystem.In2017,10lawenforcementand10firefighterpersonnelwerestruckbyvehicles,


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.


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


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.


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


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


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/


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.


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


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


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


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.


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


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


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:


● 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


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


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.


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


Review and Program Plan Meeting

anniversarydate

REPORTS

QuarterlyProgressReports

30daysaftertheendofthequarter

D No

FocusGroupReports 30daysfollowingconductoffocusgroups/annual

D No

DemonstrationScenariosDataandSummaryReports

90daysfollowingannualcompletionoftesttrackscenarios

D No

FinalEvaluationReport 90dayspriortotheendofthePeriodofPerformance

D Yes

demonstrating automated driving systems (ads) through

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