JOINT TRANSPORTATION RESEARCH PROGRAM INDIANA DEPARTMENT OF TRANSPORTATION AND PURDUE UNIVERSITY Strategic and Tactical Guidance for the Connected and Autonomous Vehicle Future Satish Ukkusuri, Fasil Sagir, Nishtha Mahajan, Benjamin Bowman, Salil Sharma SPR-4123• Report Number: FHWA/IN/JTRP-2019/02 • DOI: 10.5703/1288284316879 RECOMMENDED CITATION Ukkusuri, S., Sagir, F., Mahajan, N., Bowman, B., & Sharma, S. (2019). Strategic and tactical guidance for the connected and autonomous vehicle future (Joint Transportation Research Program Publication No. FHWA/IN/JTRP-2019/02). West Lafayette, IN: Purdue University. https://doi.org/10.5703/1288284316879 AUTHORS Satish Ukkusuri, PhD Professor of Civil Engineering Lyles School of Civil Engineering Purdue University (765) 494-2296 [email protected] Corresponding Author Fasil Sagir, Graduate Research Assistant Nishtha Mahajan, Graduate Research Assistant Benjamin Bowman, Undergraduate Research Assistant Salil Sharma, Graduate Research Assistant Lyles School of Civil Engineering Purdue University JOINT TRANSPORTATION RESEARCH PROGRAM The Joint Transportation Research Program serves as a vehicle for INDOT collaboration with higher education in- stitutions and industry in Indiana to facilitate innovation that results in continuous improvement in the planning, https://engineering.purdue.edu/JTRP/index_html design, construction, operation, management and economic efficiency of the Indiana transportation infrastructure. Published reports of the Joint Transportation Research Program are available at http://docs.lib.purdue.edu/jtrp/. NOTICE - The contents of this report reflect the views of the authors, who are responsible for the facts and the accuracy of the- tiondata orpresented regulation. herein. The contents do not necessarily reflect the official views and policies of the Indiana Depart ment of Transportation or the Federal Highway Administration. The report does not constitute a standard, specifica TECHNICAL REPORT DOCUMENTATION PAGE 1. Report No. 2. Government Accession No. 3. Recipient’s Catalog No. FHWA/IN/JTRP-2019/02 4. Title and Subtitle 5. Report Date Strategic and Tactical Guidance for the Connected and Autonomous Vehicle Future January 2019 6. Performing Organization Code 7. Author(s) 8. Performing Organization Report No. Satish Ukkusuri, Fasil Sagir, Nishtha Mahajan, Benjamin Bowman, Salil Sharma FHWA/IN/JTRP-2019/02 9. Performing Organization Name and Address 10. Work Unit No. Joint Transportation Research Program (SPR) Hall for Discovery and Learning Research (DLR), Suite 204 11. Contract or Grant No. 207 S. Martin Jischke Drive SPR-4123 West Lafayette, IN 47907 12. Sponsoring Agency Name and Address 13. Type of Report and Period Covered Indiana Department of Transportation Final Report State Office Building 14. Sponsoring Agency Code 100 North Senate Avenue Indianapolis, IN 46204 15. Supplementary Notes Conducted in cooperation with the U.S. Department of Transportation, Federal Highway Administration. 16. Abstract Autonomous vehicle (AV) and connected vehicle (CV) technologies are rapidly maturing and the timeline for their wider deployment is currently uncertain. These technologies are expected to have a number of significant societal benefits: traffic safety, improved mobility, improved road efficiency, reduced cost of congestion, reduced energy use, and reduced fuel emissions. State and local transportation agencies need to understand what this means for them and what they need to do now and in the next few years to prepare for the AV/CV future. In this context, the objectives of this research are as follows: 1. Synthesize the existing state of practice and how other state agencies are addressing the pending transition to AV/CV environment 2. Estimate the impacts of AV/CV environment within the context of (a) traffic operations—impact of headway distribution and traffic signal coordination; (b) traffic control devices; (c) roadway safety in terms of intersection crashes 3. Provide a strategic roadmap for INDOT in preparing for and responding to potential issues This research is divided into two parts. The first part is a synthesis study of existing state of practice in the AV/CV context by conducting an extensive literature review and interviews with other transportation agencies. Based on this, we develop a roadmap for INDOT and similar agencies clearly delineating how they should invest in AV/CV technologies in the short, medium, and long term. The second part assesses the impacts of AV/CVs on mobility and safety via modeling in microsimulation software Vissim. 17. Key Words 18. Distribution Statement autonomous vehicles, connected vehicles, transportation authorities, No restrictions. This document is available through the impact assessment, microsimulation National Technical Information Service, Springfield, VA 22161. 19. Security Classif. (of this report) 20. Security Classif. (of this page) 21. No. of Pages 22. Price Unclassified Unclassified 87 Form DOT F 1700.7 (8-72) Reproduction of completed page authorized EXECUTIVE SUMMARY N From a traffic volume analysis of the I-70 and I-465 freeway interchange with full saturation of different SAE levels, we STRATEGIC AND TACTICAL GUIDANCE FOR observed a significant increase in volume throughput (33% for THE CONNECTED AND AUTONOMOUS SAE 1 and 150% for SAE 5), indicating significant increases VEHICLE FUTURE in road capacity. N Conflict analysis of AVs indicates a decrease in the number of conflicts based on time to collision (30% for SAE 1 and Introduction 90% for SAE 5), implying an increase in safety. N We observed that benefits of intentional platooning with Autonomous vehicle (AV) and connected vehicle (CV) techno- cooperative adaptive cruise control (CACC)–equipped logies are rapidly maturing, but the timeline for their wider vehicles only materialize with higher percentage composition deployment is currently uncertain. State and local transportation of CVs and higher flow rates. This may warrant introducing agencies need to understand what this means for them and dedicated lanes for platoon formation when CACC penetra- consider what they need to do now and in the next few years to tion is low and/or flow rate is low. prepare for the AV/CV future. N We observed that the most common platoon size is 2, but The objectives of this research are to do the following: platoon sizes as large as 13 were also observed for 90% penetration and above with ad-hoc platoon formation 1. Synthesize the existing state of practice for AV and CV technique at a flow of 800 veh/h/lane. This indicates the vehicles and analyze how other state agencies are addressing need for modifications in present traffic management the pending transition to an AV/CV environment. techniques to allow for smooth movement of large groups 2. Estimate the impacts of an AV/CV environment on traffic of vehicles moving together. operations, including headway distribution and traffic signal coordination, traffic control devices, and intersection crashes. 3. Provide a strategic roadmap for INDOT to prepare for and respond to potential issues. Implementation Based on this synthesis study, we prepared a roadmap for INDOT divided into short-term, medium-term, and long-term Findings objectives to incorporate AV/CVs on Indiana’s roadways. Important considerations that to take into account when investing N It is imperative for INDOT to join pooled fund studies and in an AV/CV future were also listed. the smart coalition. In addition, INDOT should prioritize To understand the impacts of AV/CV on mobility and safety, the preparation of its infrastructure networks for AV/CV we developed microsimulation software—VISSIM-based simula- technology by installing clear lane markings and DSRC tion models—that can be further employed to understand the radios on traffic signals and ensuring the standardization of following: road design and signage. We also recommend testing both direct short-range communications (DSRC) and fifth- N Impacts of AV-only lanes for trucks and cars generation wireless (5G) on a single corridor to understand N Impacts on mobility and safety due to a mix of AV classes the pros and cons of both. (cars and trucks) N Based on AV modeling in VISSIM, we saw an increase in N Impacts of autonomous intersections average vehicle speeds near merging sections (at least 1.2%) N Assessment of surrogate safety measures for AVs with percentages as low as 20% of SAE 1 and above. N Mobility and safety impacts of truck only platooning N For SAE 2 onward, we observed a decrease in the tendency N Impacts of dedicated lanes for platoons of AVs to deviate from the center of the lane (50% for SAE 2 N Assessment of CV performance with SPaT messages and 87% for SAE 4), which indicates that lane widths can be decreased in an AV-only traffic scenario. We also developed a VISSIM-based microsimulation frame- N We found that outside operational design domain (ODD) con- work to simulate connectivity and identify the different features ditions (such as unclear pavement markings) significantly affect in traditional versus CV-based signal control. Any algorithm of mobility with SAE Level 4 and saw a 50% drop in average interest to INDOT can be fully integrated and tested in a future speed with SAE 4 compared to a fully autonomous SAE 5. project using this framework. CONTENTS 1. INTRODUCTION .............................................................. 1 1.1 Background Information........................................................ 1 1.2 Scope of This Study ..........................................................