Road Vehicle Automation 4 (eBook)

Preface 6
Contents 8
1 Introduction: The Automated Vehicles Symposium 2016 11
Abstract 11
1 Overview 11
2 Symposium Attendees 13
3 Keynote Talks 14
4 Plenary Panel Sessions 15
5 Plenary Presentation Sessions 15
6 Breakout Sessions 17
6.1 User-Related Automated Vehicle Issue Breakout Sessions 17
6.2 Breakout Sessions on Specific Automated Vehicle Application Areas 18
6.3 Policy and Societal Issue Breakout Sessions 18
6.4 Breakout Sessions on Planning for Automated Vehicles 19
6.5 Breakout Sessions on Technology Issues 19
7 Breakout Sessions on Operational Issues for AVs 20
8 General Cross-Cutting Observations 20
Public Sector Activities 22
2 Latest Development in SIP-Adus and Related Activities in Japan 23
Abstract 23
1 Overview of the SIP-Adus Program 23
2 Progress of SIP-Adus in the Focus Areas 24
2.1 Dynamic Map 24
2.2 Connected Vehicles 25
2.3 Human Factors 26
2.4 Next Generation Transport 26
2.5 Standardization 27
3 Large-Scale Field Operation Tests as a Platform for International Cooperation 28
3.1 Objectives 28
3.2 Outline of the Field Operation Tests 28
3.2.1 Focus Areas 28
3.2.2 Test Sites 29
3.2.3 Resources 29
3.2.4 Regulations 30
3.3 Opportunities and Requirements for Open Participants 30
4 Societal Values to Be Created with Connected and Automated Vehicle Technologies 30
4.1 Challenges for the Japanese Society 30
4.2 Mobility for Enhanced Quality of Life and Socio-economic Activities 31
5 Conclusion 32
References 32
3 Connected and Automated Driving in The Netherlands—Challenge, Experience and Declaration 33
Abstract 33
1 Dutch EU Presidency 33
2 EU Truck Platooning Challenge 34
2.1 Lessons Learnt 34
2.2 Next Steps 35
3 The Experience 36
4 Declaration of Amsterdam 36
5 Knowledge Agenda 39
References 39
4 Policymaking for Automated Vehicles: A Proactive Approach for Government 40
Abstract 40
1 Introduction 41
2 Policy Perspectives: Industry and Consumer Perspectives 42
3 Real Policy Challenges from Real Agencies 43
4 The Future Is a Choice: Policy Levers for State and Local Agencies 45
4.1 Potential Policy Levers for State and Local Agencies 45
4.2 Near-Term Policy Actions for State and Local Agencies 45
5 Synthesis and Conclusions 47
Reference 48
Human Factors and Challenges 49
5 Impact Assessment 50
Abstract 50
1 Introduction 50
2 Direct and Indirect Impacts 51
3 Use Case: Low Speed Shared Shuttle 54
3.1 Assumptions 55
3.2 Direct Impacts 55
3.3 Indirect Impacts 55
3.4 Future Research 56
4 Use Case: Truck Platooning 56
4.1 Direct and Indirect Impacts of Truck Platooning 57
4.2 Future Research 58
5 Discussion 59
References 59
6 The Digital Driver of the Future—User Experience Research on Generation Z in Germany 61
Abstract 61
1 Introduction 61
2 Methodology 62
2.1 Target Group 62
2.2 Study Approach 63
3 Study Results 64
3.1 Digital Culture 64
3.1.1 How Does Generation Z Use New Technology and When Did the Hyper-connectivity Start? 64
3.1.2 What Does Connectivity Mean to Generation Z? 65
3.1.3 What Does It Mean to Generation Z to Be Disconnected? 66
3.1.4 What Does Virtual Space Mean to Generation Z? 66
3.2 Mobility 67
3.2.1 Interest in Driving 67
3.2.2 Expectations on Future Mobility in General 67
3.2.3 Expectations on Automated and Connected Cars 68
3.2.4 Expectations on Driver-Car Interaction 69
4 Implications for the Future Cockpit 70
5 Conclusions 71
References 72
7 Reducing Conflict Between Vulnerable Road Users and Automated Vehicles 73
Abstract 73
1 Introduction 74
2 Issues and Solutions 74
2.1 Presentation Summaries 74
2.1.1 Vulnerable Road Users in the Age of Automated Vehicles: How to Ensure Safe Interactions? 74
2.1.2 The Current State of Vehicle-VRU Interactions 75
2.1.3 Connected Pedestrians at Signalized Intersections in a CAV Environment 77
2.1.4 PROSPECT: PROactive Safety for Pedestrians and CyclisTs 77
3 Discussion and Future Directions 78
References 79
Ethics, Legal, Energy and Technology Perspectives 80
8 Model Legislation for Automated Driving 81
Abstract 81
1 Introduction 81
2 The Legal Status of Automated Driving 82
3 Prior State Language 83
4 Other State Models 84
5 Model State Bill 84
6 Model Federal Bill 88
7 Conclusion 90
9 The Environmental Potential of Autonomous Vehicles 91
Abstract 91
1 The Challenge Ahead 92
2 The Environmental Impacts of Connected and Autonomous Vehicles 93
2.1 Fuel Economy 94
2.2 New Mobility Options 94
2.3 The Urban Environment 95
2.4 Fuels 95
3 The Path Forward 96
References 97
10 Energy Impact of Connected Eco-driving on Electric Vehicles 98
Abstract 98
1 Introduction 99
2 Connected Eco-driving for EV 102
2.1 Vehicular Movements at Isolated Intersections 102
2.2 Optimal Vehicle Trajectory Planning 103
2.3 MPC-Based EAD System for Partially Automated Driving 104
3 Experimental Design and Data Collection 105
4 Energy and Mobility Benefits Analysis 107
4.1 EV Energy Consumption Estimation Model 107
4.2 Energy and Mobility Benefits Analysis 108
5 Conclusion 111
References 111
11 A First-Order Estimate of Automated Mobility District Fuel Consumption and GHG Emission Impacts 113
Abstract 113
1 Introduction 113
2 Background 116
3 Methodology 117
4 Results 119
5 Conclusion 122
References 122
12 Shared Automated Mobility: Early Exploration and Potential Impacts 124
Abstract 124
1 Introduction 124
1.1 Shared Mobility and Vehicle Automation 126
2 Current State of Shared Mobility 127
2.1 Business-to-Consumer (B2C) Service Models 127
2.2 Peer-to-Peer (P2P) Service Models 128
2.3 For-Hire Service Models 128
2.4 Impact on Other Transportation Modes 128
3 Shared Automated Mobility 129
3.1 Current Developments and Projected Trends 129
3.2 Potential SAV Business and Service Models 130
3.3 Research on SAV Impacts 134
4 Conclusion 135
Acknowledgements 136
References 136
13 Shared Automated Mobility and Public Transport 139
Abstract 139
1 Introduction 140
2 Updates on Research, Projects, Pilot Programs, and Testing Sites 142
2.1 Impacts of Shared Mobility 142
2.2 Shared Automated Vehicle Testing and Pilot Programs 143
2.2.1 AV Test Sites and Public Demonstrations 144
2.2.2 SAV Pilot Design Considerations 144
2.2.3 Overcoming Regulatory Fragmentation 145
3 Program Updates and Funding Opportunities 146
3.1 Beyond Traffic: USDOT Calls for Innovations in Transportation 147
3.1.1 Automation in the Smart City Challenge 147
3.1.2 FTA Mobility on Demand (MOD) Sandbox: Changing the Transit Landscape 148
3.2 Research Needs in Accessible Transportation Technologies 149
3.3 NCHRP Funding Opportunities and Research Initiatives 149
4 Public Transport in the Future 150
4.1 Regional and Local “Automated Oriented Development” Initiatives 151
4.2 Technological Opportunities Using AV Technology for Public Transit 151
4.3 The Near Future of Paratransit 152
4.4 Integration of Public and Private Models 153
4.4.1 Ridesourcing/TNCs Replacing Public Transit Service 154
4.4.2 A Public-Private Pop-up Bus Service 154
4.4.3 Public-Private Partnerships with the Rise of Vehicle Automation 155
5 Policy Implications and Research Needs for Public Transport and Shared Mobility 155
6 Conclusion 156
Acknowledgements 158
References 158
Vehicle Systems and Technologies Development 160
14 Safety Assurance for Automated Vehicles 161
Abstract 161
1 Introduction 161
2 Session Highlights 162
2.1 Dependability and Verification for Self-driving Cars—The Drive Me Approach (Jonas NILSSON, Volvo Car Corporation, Sweden) 162
2.2 Concerning Safety Assurance on Automated Vehicle—Results and Discussion Based on the Projects in Japan—(Naohisa HASHIMOTO, National Institute of Advanced Industrial Science and Technology (AIST), Japan) 163
2.3 Safety Assurance Based on an Objective Identification of Scenarios—One Approach of the PEGASUS-Project (Walther WACHENFELD, Technische Universität Darmstadt, Germany) 164
2.4 Developing and Assessing Automated Driving (Lutz ECKSTEIN, RWTH Aachen University, Institute for Automotive Engineering (ika), Germany) 165
2.5 Establishing Trust in Autonomous Vehicles—An Aerospace Perspective (Tim Allan WHEELER, Stanford University, Stanford Intelligent Systems Laboratory, USA) 166
2.6 Driving Autonomous Vehicles to Safety (Nidhi KALRA, RAND Center for Decision Making Under Uncertainty, USA) 167
2.7 Functional Validation and Performance Assessment of Automated Truck Platoons in Controlled Environments (Marcos PILLADO, Applus IDIADA, Spain) 167
2.8 Challenges in Autonomous Vehicle Testing and Validation (Michael WAGNER, Carnegie Mellon University, USA) 168
2.9 Applicability of Lessons Learned from Aviation Safety Management System for Automated Vehicles (Andrew LACHER, Unmanned and Autonomous Systems Research Strategist, the MITRE Corporation, USA) 169
3 Summary of Panel Discussion 170
4 Key Results 170
5 Next Steps 171
Acknowledgements 171
15 Enabling Technologies for Road Vehicle Automation 172
Abstract 172
1 Introduction 173
2 Automation Scenarios 173
3 Emerging Technologies 175
3.1 Position, Localization and Mapping 175
3.2 Algorithms, Deep Learning Techniques, Sensor Fusion, Guidance and Control 175
3.3 Hybrid Communications 176
3.4 Sensing and Perception 177
3.5 Technologies for Data Ownership and Privacy 177
4 Conclusion 178
Acknowledgements 179
References 179
16 Infrastructure for Automated and Connected Driving: State of the Art and Future Research Directions 181
Abstract 181
1 Introduction 182
2 State of the Art 182
2.1 Physical Infrastructure 182
2.1.1 Geometric Road Design 183
2.1.2 Structural Pavement Design 184
2.2 Digital Infrastructure 184
2.2.1 Sensors, Connectivity and Cloud 184
2.2.2 Digital Maps and Road Database 185
2.2.3 Exact Positioning of the Vehicle 186
3 Brainstorming Workshop 186
4 Synthesis 188
5 Knowledge Gaps and Future Research Directions 189
5.1 Physical Infrastructure 189
5.2 Digital Infrastructure 190
References 190
Transportation Infrastructure and Planning 192
17 Understanding the Effects of Autonomous Vehicles on Urban Form 193
Abstract 193
1 Introduction 194
2 Looking into the Past: The Trajectory so Far 195
3 Looking into the Future: The Tools Available 198
4 Methodology for Studying AV Impact on the Urban Environment 199
4.1 Approach Overview 199
4.2 Initial Instructions 200
4.3 Steps in Process 200
5 Implementation: Running Scenarios 208
6 Developing Descriptive Visualization Scenarios 209
7 Prioritizing Regulatory Directions 211
8 Conclusion 211
References 212
18 “AV-Ready” Cities or “City-Ready” AVs? 214
Abstract 214
1 Introduction 215
2 What Do Cities Need? Urban Mobility and Road Automation 215
3 How Can Cities Plan for Automation? 216
3.1 Toronto’s Automation Scenarios 216
3.2 ITF Automation Study for Lisbon 218
4 Addressing the Transition Challenge 218
5 What Are the Next Steps? Addressing the Transition Challenge 219
5.1 Policy Context of Road Automation 219
5.2 Planning “with Automation in Mind” 220
5.3 “AV-Enabling” Infrastructure Development 221
5.4 “AV-Enabling” Institutional Structures 222
5.5 Action Planning 223
6 Conclusions 223
References 224
19 Traffic Flow of Connected and Automated Vehicles: Challenges and Opportunities 225
Abstract 225
1 Introduction 226
2 Challenges and Research Opportunities on Connected and Automated Traffic Flow 227
2.1 Challenges of Automated Vehicles for Traffic Flow Modelling 227
2.2 Network Level Modeling and Applications of CAV Technologies: Strategic Level 228
2.3 CACC—V2X Solutions to ACC Challenges 230
2.4 Connected Vehicles Can Increase Throughput and Decrease Delay on Urban Roads 232
3 Discussion 232
Acknowledgements 234
References 234
20 Potential Fleet Size of Private Autonomous Vehicles in Germany and the US 236
Abstract 236
1 Introduction 237
2 Methodology 238
3 Scenarios 240
4 Results 240
5 Conclusion 244
Acknowledgements 244
References 244
21 Simulation-Based Traffic Management System for Connected and Autonomous Vehicles 246
Abstract 246
1 Introduction 246
2 State of the Art 247
3 Simulation-Based Traffic Management System for Connected and Autonomous Vehicles 249
3.1 Acquiring Traffic Data 249
3.2 Building a Traffic Model 250
3.3 Predicting Traffic Conditions in Advance 251
3.4 Finding Good Traffic Control Settings 251
3.4.1 General Idea 251
3.4.2 Speeding up Running a Single Simulation 252
3.4.3 Approximating Outcomes of a Single Simulation 252
3.5 Applying Best Settings 253
3.6 Results of Experiments 254
3.7 Importance of Running Computations in a Cloud 254
4 Conclusions and Future Work 254
References 255