Automated Driving Activities in the U.S

AUTOMATED DRIVING ACTIVITIES IN THE U.S.

A PARTIAL REPORT

JANE LAPPIN CHAIR, TRB STANDING COMMITTEE ON VEHICLE HIGHWAY AUTOMATION APRIL 19, 2021 EUCAD- VIRTUALLY BRUSSELS WHAT NATIONAL POLICIES AND ACTIONS CAN ACCELERATE DEVELOPMENT AND DEPLOYMENT?

• Structural safety standards for new vehicle designs • Data exchange standards • Safe driving integration, by ODD, vehicle size/type • Public acceptance • Built infrastructure • Remote operations • • Machine-readable signage Consistent national regulations • Procedural safety • Digital short-range communications • Platooning • Road operations • Planning • Ethics • Sensors/enabling technologies • Liability • Equity • Internal and external vehicle communications • Investment in Innovation* • Accessibility • Multi-sector Pilots • Personal security • Public demonstrations • Cybersecurity • Test beds INDICATORS OF HEALTHY INNOVATION: AS OF FEBRUARY 25, 2021, CA DMV HAS ISSUED AUTONOMOUS VEHICLE TESTING PERMITS (WITH A DRIVER) TO THE FOLLOWING 56 ENTITIES:

• AIMOTIVE INC • RENOVO.AUTO • Qcraft.ai • • • AMBARELLA CORPORATION RIDECELL INC • LEONIS TECHNOLOGIES QUALCOMM TECHNOLOGIES, • INC • APEX.AI SUBARU • LYFT, INC • TELENAV, INC. • APPLE INC • BOX BOT INC • MANDO AMERICA CORP • • TESLA • ARGO AI, LLC CONTINENTAL • MERC BENZ • • TOYOTA RESEARCH INSTITUTE • ATLAS ROBOTICS, INC CRUISE LLC • NIO USA INC. • • UATC, LLC (UBER) • AURORA INNOVATION CYNGN INC • NISSAN • DEEPROUTE.AI • UDACITY • AUTOX TECHNOLOGIES INC • NURO, INC • • Udelv, Inc • BAIDU USA LLC DELPHI • NVIDIA CORPORATION • • VALEO NORTH AMERICA, INC. • BMW DiDi RESEARCH • OPTIMUS RIDE INC AMERICA, LLC • VINGROUP USA LLC • HELM.AI INC • PHANTOM AI • EASYMILE • VOLKSWAGEN • HONDA • PLUSAI, INC • GATIK AI INC • VOYAGE AUTO INC • IMAGRY INC • PONY.AI • GHOST • WAYMO LLC • INCEPTIO TECHNOLOGY INC LOCOMOTION INC • WeRide Corp DBA WeRide AI • INTEL CORPORATION • ZOOX INC • XMOTORS.AI, INC OTHER DATA POINTS, RAISING THE QUESTION: WHAT IS THE GOAL OF PUBLIC POLICY WHEN GLOBAL COMPANIES COMPETE?

Autonomous vehicles registered in California traveled approximately 1.99 As of January 27, 2021, CA DMV has million miles in autonomous mode on public roads in 2020, a decrease of about issued Autonomous Vehicle 800,000 miles from 2019. Driverless Testing Permits to the following 6 entities: USDOT “recognized” 10 proving grounds in • AUTOX TECHNOLOGIES INC Lyft, Aptiv, and 2017 but did not provide funding: • BAIDU USA LLC Motional (now with • • City of Pittsburgh and the Thomas D. Larson Cruise LLC Hyundai), have • Pennsylvania Transportation Institute NURO, INC completed ~100,000 • • Texas AV Proving Grounds Partnership WAYMO LLC Waymo One outside paid taxi trips in Las • • U.S. Army Aberdeen Test Center ZOOX, INC Phoenix provides Vegas over the last • American Center for Mobility (ACM) at ~1,000-2,000 several years. Willow Run rides/week with Mobileye has data- • Contra Costa Transportation Authority 300 vehicles, sharing agreements with (CCTA) & GoMentum Station logging more than OEM and tech partners, • San Diego Association of Governments 20 million test Nvidia sells GPUs to including Volkswagen, • Iowa City Area Development Group miles in a Toyota, Audi, Volvo, BMW & Nissan. Mobileye • University of Wisconsin-Madison ~50sq/mile Mercedes-Benz, reportedly gathers • Central Florida Automated Vehicle Partners service ODD. Airbus, Aurora roughly 5 million miles of • North Carolina Turnpike Authority Mobile, and Zoox data every day.

Consolidation & Partnerships: Cruise buys Voyage; Aurora buys Uber ATG; Volkswagen invests $2.6 billion in ArgoAI; Motional partners with Aptiv and Hyundai; Amazon buys Zoox… POLICY ROADMAP TO ADVANCE AUTOMATED VEHICLE INNOVATION A Four-Year Plan to Revolutionize Transportation The Alliance for Automotive Innovation represents the manufacturers producing nearly 99 percent of cars and light 1 CREATE A NEW VEHICLE CLASS FOR AVs trucks sold in the U.S. 2 CLARIFY APPLICABILITY OF “MAKE INOPERATIVE” PROHIBITION 3 ESTABLISH A NATIONAL AV PILOT PROGRAM PILLAR 1 REFORM REGULATIONS TO ALLOW FOR AV DEPLOYMENT 4 IMPROVE THE EXEMPTION PETITION PROCESS AT SCALE (1-6) 5 RAISE THE CAP ON EXEMPTIONS FOR AVs 6 EMBRACE INNOVATIVE REGULATORY APPROACHES 7 MAINTAIN TRADITIONAL FEDERAL AND STATE ROLES PILLAR 2 HARMONIZE FEDERAL, STATE, AND INTERNATIONAL POLICIES (7-10) 8 COORDINATE STATE AV POLICIES 9 ALIGN STATE TRAFFIC LAWS 10 LEAD IN INTERNATIONAL FORA PILLAR 3 LAY THE FOUNDATION TO ACHIEVE LONGER TERM 11 PROMOTE INDUSTRY STANDARDS GOALS (11-13) 12 BUILD KNOWLEDGE FOR A SAFETY ASSURANCE FRAMEWORK 13 PREPARE ROADWAY INFRASTRUCTURE FOR AVs 14 SUPPORT U.S. LEADERSHIP ON AVs PUBLICATIONS (to date)

Best Practice for Metrics and Methods for Assessing Safety Performance of Automated Driving Systems (ADS)

Best Practice for First Responder Interactions with Fleet- Managed Automated Driving System-Dedicated Vehicles (ADS- DVs) Members: Toyota, Ford, GM, Honda, Daimler, VW, Aurora, Lyft, SAE Best Practice for Data Collection for Automated Driving System Dedicated Vehicles to Support Event Analysis Safety Principles The AVSC’s work consists of a set of Best Practice for Passenger-Initiated Emergency Trip safety principles for SAE Level 4 and 5 Interruption. automated driving systems focusing on Best Practice for Describing an Operational Design Domain: 1. Testing prior to and when operating Conceptual Framework and Lexicon AVs on public roads, 2. Data collection and sharing required Best Practice for safety operator selection, training, and to reconstruct certain events and oversight procedures for automated vehicles under test 3. Interactions between AVs and first responders. WHO WE ARE PAVE is a diverse coalition that unites industry partners and nonprofit groups who believe in the potential of AVs. Our nonprofit members include disability advocates, safety groups, sustainability advocates, and trade associations. Our industry members include traditional automakers, auto component makers, startup technology firms, established tech companies, and insurers. We also have advisory groups of leading academics and public sector officials who provide guidance and support for the coalition’s activities.

WHAT WE DO PAVE helps enhance public understanding of driverless technology through: Recent PAVE virtual panels: • An educational website and social media channels • What Do AVs Mean for Infrastructure? • “Hands-on” demonstrations that allow the public to see and • Minnesota Governor’s Advisory Council on Connected experience driverless technology and Automated Vehicles • Other outreach events, such as conferences and public • All AVs are Local: Trucks in Texas forums, that provide opportunities to engage with the • Autonomous Vehicles and System-Level Safety public about AV technology and its potential benefits • Disruptive Women Powering Our Autonomous Future • Policymaker workshops designed to provide real facts about Panel AV technology to help policymakers make informed • A Look at AV Perception decisions FOR EXAMPLE, AUTOMATED SHUTTLES

Locations Pilots & Demos Shuttle operators & Manufacturers • U-M Ann Arbor, MI • 20 sites in 13 states • University of South Florida, Tampa operating low-speed • Local Motors • EasyMile • San Ramon, CA shuttle pilots/demos • Bedrock, MI • Navya • • State, federal, local • Denver, CO Lincoln, NE • AuroRobotics • funding • Providence, RI Dublin, CA • Best Mile • • Minneapolis, MN Weymouth, MA • Public engagement • May Mobility • • Detroit, MI Gainesville, FL • Olli • • College campus, • Sacramento, CA College Park, TX • Lohr • office park, public • Park City, UT Greenville, SC • Cushman • road, amusement • Columbus, OH Arlington, TX park, sports arena • Optimus Ride • Jacksonville, FL • 2GetThere • National Harbor, MD • Robotic Research • Coast Autonomous FROM THE US GOVERNMENT

LOCI OF ACTIVITY (road vehicles) • Departments of Defense: • Non-combat applications that reduce costs & improve service, like logistics and campus mobility • Department of Energy: • Modeling and simulation of AV operations and impact to reduce energy consumption • Department of Transportation: • Safety regulation of all vehicles & roadways; implications for built infrastructure, land use planning, traffic operations, personal mobility, accessibility, transit, trucks, interstate busses, environmental impact… • States • Regulation and enforcement: Drivers, insurance, roadway safety and policing, public health U.S. DOT AUTOMATED VEHICLES COMPREHENSIVE PLAN*

Builds on previous voluntary guidance ADS 2.0, AV 3.0, AV 4.0

Explains Departmental goals related to 1. Promote Collaboration and Transparency 2. Modernize the Regulatory Environment Automated Driving Systems (ADS) 3. Prepare the Transportation System

Identifies actions being taken to meet those Stakeholder Engagement, Research, Guidance, Rulemakings goals

• Occupant-less Low-Speed Vehicles Provides real-world examples of how these • Passenger Vehicle Conditional Driving Automation Departmental actions relate to emerging • Passenger Vehicle Automated Driving Systems ADS applications • Automated Trucking Operations • Low-Speed Passenger Shuttles 10

transportation.gov/AV RECENT USDOT RULEMAKING ACTIVITY

• January 2021 – Final Rule on Occupant Protection for Automated Driving Systems (NHTSA) • December 2020 – Notice Regarding the Applicability of NHTSA FMVSS Test Procedures to Certifying Manufacturers (NHTSA) • December 2020 – NPA of National Standards for Traffic Control Devices; the Manual on Uniform Traffic Control Devices for Streets and Highways; Revision (FHWA) • November 2020 - ANPRM on Framework for Automated Driving System Safety (NHTSA)

11 Slides 10-23 courtesy of Kevin Dopart, USDOT USDOT AUTOMATION DEMONSTRATION GRANTS

Applicant State Amount Texas A&M Engineering Experiment TX $7,063,787 Station University of Iowa IA $7,026,769 Virginia Polytechnic Institute and VA $7,500,000 State University Transportation Institute Virginia Polytechnic Institute and VA $7,500,000 State University Transportation Institute Ohio Department of Transportation OH $7,500,000 (through DriveOhio) Pennsylvania Department of PA $8,409,444 Transportation City of Detroit, MI MI $7,500,000 Contra Costa Transportation CA $7,500,000 Stars indicate commercial12 testing Authority, CA ACCELERATING INNOVATIVE MOBILITY (FTA)

• ELATE (Youngstown, OH, and Santa Clara Valley, CA) • Partners: Western Reserve Transit Authority, Santa Clara Valley Transportation Authority, CALSTART • Automation Level: 4 • Vehicles: Two purpose-built, common-spec prototype accessible automated electric vehicle (AAEVs) • Transit’s First-Mile/Last-Mile Solution (Houston, TX) • Partners: Houston Metro, AECOM, Phoenix Motorcars, EasyMile • Automation Level: 4 • Vehicle: A wheelchair accessible ZEUS 400 all-electric shuttle bus (EZ Zeus) • Location: Fixed-route connecting Texas Southern University, University of Houston, and Houston’s Third Ward with light rail and bus service

Slides 10-23 courtesy of Kevin Dopart, USDOT SAFETY RESEARCH OVERVIEW

• Updating and Modernizing Regulations • (removing regulatory barriers & unintended consequences) • ADS System Safety Performance • (test methods, safety performance metrics, functional safety) • ADAS Evaluation and Test Development • (field studies, benefits estimates, user acceptance, test methods & metrics) • Human Factors • (signaling, telltales, inclusive designs & user needs, communications with other road users) • Occupant Protection • (alternative cabin configurations & seating positions) HUMAN FACTORS UPDATES

• NHTSA • Maintaining Situational Awareness when Operating Automated Vehicles: Findings from Other Modes • Child Passenger Safety Perceptions and Practices in Ride-sharing and Autonomous Vehicles • Temporal Components of Warnings and Notifications for Safe Manual Re-engagement with the driving task in Automated Driving • Exploring Methods of Remote Operation Following a System Failure with ADS Vehicles in Shared Mobility Applications

• FHWA • Driver Acceptance of Vehicle Automation – Function Specific (L1 – L2) Automation Applications • Research Key Automated Vehicle Human Factors Safety Issues Related to Transportation Systems Management and Operations (TSMO) • Investigate Key Automated Vehicle Human Factors Safety Issues related to Infrastructure • Human Factors Issues Related to Truck Platooning Operations • Ensuring Cooperative Automated Driving System (C-ADS) Vehicles and Vulnerable Road Users (VRUs) Safety Through Infrastructure (upcoming) TECH-CELERATE NOW Partners:

• Initiated by: FMCSA and ITS JPO • Purpose: To accelerate the adoption of ADAS by the trucking industry to reduce fatalities and prevent injuries and crashes

16 Site: http://www.tech-celeratenow.org/ AUTOMATED VEHICLES AND ADVERSE WEATHER (AVAW)

17 CARMA The USDOT’s initiative focused on improving the transportation system by leveraging emerging automated driving technology and vehicle-to-everything (V2X) technology to enable increased safety and operational performance in moving people and goods.

Source: FHWA CARMA USE CASES

• Proposed route and experimental design: • California to Texas – 1,400 miles of I-10 • California, Arizona, New Mexico, Texas • Four trucks and 20 drivers. • One round trip per week for one year. • Data to be collected. • Engineering data: onboard sensors, J-1939 Bus, and DSRC Source: California PATH • Extra sensors for surrounding traffic collection: fixed beam lidars and video cameras • Wireless modem connection with trucks for monitoring: CACC system operation and data logging health 20 TRAFFIC OPTIMIZATION FOR SIGNALIZED CORRIDORS (TOSCO) PHASE II – BUILD & TEST 2020-2022

• Most research related to connected vehicles occurs on low speed arterial (35-45 mph) range or freeways • SH 105 - Conroe, TX Corridor Represents a high speed facility • 15 intersections between Montgomery, TX and Conroe, TX covering about 12 miles • Posted speed limit range: 45 mph (east end) to 55 mph (west end)

Source: Google Maps 21 MODELS FOR AUTOMATED VEHICLE PLANNING • Recent modeling projects include: Source: Rakoff, Hannah • E., et al. Building Automated Vehicle Access, Mobility, and Feedback into Modelling Affordability for System Users Impacts of Automated Vehicles: Developing a • ADAS/ADS Data Collection Broad Agency Consensus Model and Quantitative Tool. 2020, Announcement https://rosap.ntl.bts.gov /view/dot/48969. • Incorporating AV into Planning Models

• Improving Analysis, Modeling and Simulation for Connected and Automated Vehicle Capabilities

• Modeling Connected AV Performance

• Strategic Modeling Tools to Support AV Scenario Planning (VisionEval)

22 • FHWA AV/CV Modeling Peer Exchange INFRASTRUCTURE RESEARCH OVERVIEW

• Testing and Pilot Design, Development, and Evaluation Framework What is possible? • National Roadway Automation Concept of Operations • AV Readiness: Infrastructure Funding and Timing Challenges and Solutions • Truck Platooning Impacts on Bridges: What will Phase I – Structural Safety change as a result?

What are the impacts? 23 THANK YOU

Jane Lappin [email protected]