TABLE OF CONTENTS APPENDIX B -SPACING AND CAPACITY …koopman/ahs/ahs_objectives/... ·...

TABLE OF CONTENTS

APPENDIX A - DISTRIBUTION OF INTELLIGENCE TABLE..................... A-I

APPENDIX B - SPACING AND CAPACITY EVALUATIONS FOR DIFFERENTAHS CONCEPTS..... B-1

B.I Introduction................................................................................ B-2B.2 Minimum Safety Spacing..... B-3

B.2.1 Safe Intervehicle Spacing Analysis.......................................... B-3B.3 Vehicle Following Concepts... B-5

B.3.1 Motivation...................................................................... B-5B.3.2 Autonomous Vehicles................................... B-5B.3.3 Free Agent Vehicles - Infrastructure Supported............................ B-7B.3.4 Free Agent Vehicles - Infrastructure Managed B-7B.3.5 Platooning Without Coordinated Braking................................... B-8B.3.6 Platooning With Coordinated Braking.............. B-8B.3.7 Infrastructure Managed Slotting.............................................. B-9

B.4 Spacing and Capacity Evaluations....................................................... B-9B.4.1 Adhesion and Friction B-IOB.4.2 Uniform Versus Non-Uniform Braking B-12B.4.3 Mixing of Vehicle Classes B-13B.4.4 Autonomous Vehicles B-14B.4.5 Free Agent Vehicles - Infrastructure Supported B-17B.4.6 Free Agent Vehicles - Infrastructure Managed B-18B.4.7 Vehicles Platoons Without Coordinated Braking B-18B.4.8 Vehicle Platoons With Coordinated Braking No Delay B-20B.4.9 Vehicle Platoons With Coordinated Braking And Staggered Timing B-22B.4.lO Infrastructure Managed Slotting B-23

B.5 Discussion and Conclusions B-23B.6 Symbols and Notation B-24B.7 References B-25

Appendix B1: Vehicular Data References B-27Appendix B2: Tables of Results B-30

APPENDIX C - SAFETY EVALUATION RESULTS C-I

APPENDIX D - COST EVALUATION DATA..... D-ID.I Range of Possibilities........................ .. D-ID.2 Cost Element I............................................................................. D-ID.3 Cost Element 2............................................................................. D-8D.4 Cost Element 3............................................................................. D-8D.5 Cost Element 4............................................................................. D-8D.6 Sensitivity Analyses D-15

APPENDIX E - THE SUPPORTING DATA FOR 4.4 (FLEXIBILITY ANDDEPLOYMENT) E-I

E.I The Evaluation Criteria Developed and Applied to Score Each Concept. . . . . . .. .. .. E-IE.2 The Spreadsheet Scoring Matrices, Summary Charts and Graphs Derived

from the Scoring Process.............. E-3

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TABLE OF CONTENTS (Continued)

APPENDIX F - ACCEPTABll.,ITY EVALUATION CRITERIA ANDSENSITIVITY STUDIES............................................ .. .. F-1

F.1 Evaluation Criteria......................................................................... F-1From 4.5.5.1. Mobility/Access F-1From 4.5.5.2. User Issues.................. F-2From 4.5.5.3. Environment.......................................................... F-3From 4.5.5.4. Other.................................................................. F-3

F.2 Sensitivity Analysis....................................................................... F-44.5.8 Evaluation Results.............................................................. F-5

APPENDIX G - OVERALL EVALUATION DATA................ G-1

APPENDIX H-DESCRIPTIONS OF CANDIDATE CONCEPTS.............................. H-1

H.1. Introduction........................................................................................ H-1

2. Concept 1a: Adaptive cruise with lane monitoring.. H-42.1 Overview H-42.2 Dimension Alternatives.................................................................... H-42.3 Operational Concept.... H-42.4 Functional Allocation. .. .. . .. . ... .. . . . . . .. .. .. .. .. . .. . . . .. . . .. . . . . .. . .. . . .. . .. . . . . . . . .. . . .. H-42.5 Implementations............................................................................ H-4

2.5.1 Vehicle H-42.5.2 Infrastructure.................................................................... H-52.5.3 Deployment..................................................................... H-5

2.6 General Issues.............................................................................. H-5

3. Concept 1b: Autonomous free agent vehicles mixing with non-AHS traffic................. H-63.1 Overview H-63.2 Selected Alternative From Each Dimension............................................. H-63.3 Operational Concept......................... H-6

3.3.1 Check In H-63.3.2 Normal Operations, Including Obstacle Detection.......................... H-63.3.3 System Tailoring and Aggressive Driver Avoidance H-73.3.4 Use of AHS Technology for Rural and Inner-City Driving H-73.3.5 System Transition from Automated to Manual ControL............ H-83.3.6 Manual Termination of AHS Capabilities H-8

3.4 Functional Allocation..... H-83.5 Implementation........ H-8

3.5.1 Vehicle.............. H-83.5.2 Infrastructure H-83.5.3 Deployment..................................................................... H-8

3.6 General Issues and Considerations.............. H-8

4. Concept 3: SpacelTime Slot Separation [Infrastructure Controlled]............................ H-94.1 Overview.................................................................................... H-94.2 Dimension Attributes.............. H-9

4.2.1 Distribution of Intelligence: Infrastructure Control........................ H-94.2.2 Separation Policy: SloL......... H-94.2.3 Mixing of AHS and Non-AHS Vehicles: Dedicated LanesWith Continuous Physical Barriers H-10

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4.2.4 Mixing of Vehicle Classes: Not Mixed H-lO4.2.5 Entry/Exit: Dedicated H-lO4.2.6 Obstacle: Automated Sensing and Avoidance Maneuver. H-10

4.3 Operational Concept H-104.4 System Diagram H-13

4.4.1 TOC to Zone Controller Interface H-134.4.3 Roadway Condition Sensors to Roadway H-144.4.4 Zone Controller to Range Detection Sensors H-144.4.5 Range Detection Sensors to Vehicle H-144.4.6 Zone Controller to Vehicles H-144.4.7 Vehicle Sensors to Lateral Reference H-14

4.5 Functional Allocation H-144.5.1 Position Control H-144.5.2 Maneuver Coordination H-174.5.3 Hazard Management H-174.5.4 Malfunction Management.. H-174.5.5 Flow Control. H-174.5.6 Operator Interface H-184.5.7 Check-In H-184.5.8 Check-Out H-18

4.6 Implementation Option(s) H-184.6.1 Vehicle Electronics H-184.6.2 Infrastructure Instrumentation H-194.6.3 Roadway Infrastructure H-19

4.6.3.1. Rural Highway H-194.6.3.2. Urban Region H-20

4.6.4 Deployment H-204.7 Issues H-20

5. Concept 3a: Spaceffime Slot Separation [Infrastructure Managed] H-215.1 Overview H-215.2 Dimension Attributes H-21

5.2.1 Distribution of Intelligence: Infrastructure Managed H-215.2.2 Separation Policy: SIoL H-225.2.3 Mixing of AHS and Non-AHS Vehicles: Dedicated LanesWith Continuous Physical Barriers H-225.2.4 Mixing of Vehicle Classes: Not Mixed H-225.2.5 Entry/Exit: Dedicated H-225.2.6 Obstacle: Automated Sensing and Avoidance Maneuver H-22


5.4.1 TOC to Zone Controller Interface H-255.4.2 Zone Controller to Roadway Condition Sensors H-255.4.3 Roadway Condition Sensors to Roadway H-265.4.4 Zone Controller to Range Detection Sensors H-265.4.5 Range Detection Sensors to Vehicle H-265.4.6 Zone Controller to Vehicles H-265.4.7 Vehicle Sensors to Lateral Reference H-26

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5.5 Functional Allocation H-265.5.1 Position Control H-265.5.2 Maneuver Coordination H-295.5.3 Hazard Management H-295.5.4 Malfunction Management.. H-295.5.5 Flow Control H-295.5.6 Operator Interface H-295.5. 7 Check-In H-305.5.8 Check-Out H-30

5.6 Implementation Option(s) H-305.6.1 Vehicle Electronics H-305.6.2 Infrastructure Instrumentation H-3I5.6.3 Roadway Infrastructure H-31


5.6.4 Deployment H-315.7 Issues H-32

6. Concept 4: Cooperative, Free Agent On Dedicated Lanes with Gaps In Barriers H-336.1 Overview H-336.2 Selected Alternative from Each Dimension H-336.3 Operational Concept H-346.4 System Diagram H-356.5 Functional Allocation H-356.6 Implementation H-36

6.6.1 Vehicle H-366.6.2 Infrastructure H-37

6.6.2.1. Rural Highway: H-376.6.2.2. Urban Region: H-37

6.6.3 Deployment ~ H-376.7 General Issues and Considerations H-37

7. Concept 5: Cooperative Platooning in Dedicated Lanes with Gaps in Physical Barriers H-397.1 Overview H-39

7.1.1. Distinguishing Features H-397.2 Selected Alternatives From Each Dimension H-39

7.2.1 Cooperative Intelligence Among Vehicles H-397.2.1.1. Local Tailorability H-39

7.2.2 Platooning H-397.2.3 Dedicated Lanes With Gaps in Physical Barriers H-397.2.4 Mixed Classes of Vehicles in a Lane H-40

7.2.4.1. Local Tailorability H-407.2.5 Transition Lane EntrylExit H-40

7.2.5.1. Local Tailorability H-407.2.6 Automated Obstacle Avoidance H-407.2.7 Options H-407.2.8 Assumptions H-40

7.3 Operational Concept ,' H-417.4 System Structure H-4I

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7.5 Functional Allocation H-427.5.1 Check-In and Entry H-427.5.2 Automatic Driving H-42

7.5.2.1. Platoon Join and Split H-427.5.2.2. Lane Keeping, Speed and Vehicle Following H-427.5.2.3. Lane Change H-427.5.2.4. Obstacle Avoidance H-42

7.5.3 Exit and Check-Out H-437.5.4 Flow Control.. H-437.5.5 Malfunction and Emergency Handling H-43

7.6 Implementations H-437.6.1 Vehicle H-437.6.2 Infrastructure H-43

7.6.2.1. Barrier Configurations & EntrylExit Placement H-437.6.2.2. Lateral expansion of the roadway H-447.6.2.3. Vehicle classes allowed on the automated roadway H-457.6.2.4. Number of manual lanes H-457.6.2.5. Number of automated lanes H-457.6.2.6. Lane widths H-457.6.2.7. Extent of transition lane H-457.6.2.8. Existence of breakdown/emergency lane forautomated usage H-467.6.2.9. Additional right-of-way needed H-46

7.6.3 Differences Between Urban and Rural Implementation H-467.6.4 Deployment H-46

7.7 General Issues and Considerations H-467.7.1 Local Coordination H-467.7.2 Heavy Reliance on Individual Vehicle Intelligence H-467.7.3 Cooperative or Selfish? H-467.7.4 Communication Range and Channels H-467.7.5 Transition Lane H-477.7.6 Platooning and Mixed Classes of Vehicles H-477.7.7 Potential for Additional Right-of-Way Required H-47

8. Concept 6: Free Agent with Moderate Non-AHS Exposure H-488.1 Overview H-488.2 Dimension Attributes H-48

8.2.1 Distribution of Intelligence: Infrastructure Supported H-488.2.2 Separation Policy: Free Agent H-488.2.3 Mixing of AHS and Non-AHS Vehicles: Dedicated LanesWith Some Gaps in the Physical Barriers H-488.2.4 Mixing of Vehicle Classes: Mixed H-498.2.5 EntrylExit: Transition H-498.2.6 Obstacle: Automated Sensing and Avoidance Maneuver H-49


8.4.1 TOC to Zone Controller Interface H-508.4.2 Zone Controller to Roadway Condition Sensors H-508.4.3 Roadway Condition Sensors to Roadway H-508.4.4 Range Detection Sensors to Vehicle H-50

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8.4.5 Vehicle to Vehicle Communications Interface H-508.4.6 Zone Controller to Vehicles H-508.4.7 Vehicle Sensors to Lateral Reference H-50

8.5 Functional Allocation H-508.5.1 Position Control: H-508.5.2 Maneuver Coordination H-518.5.3 Hazard Management H-518.5.4 Malfunction Management.. H-538.5.5 Flow ControL H-538.5.6 Operator Interface H-538.5.7 Check-In H-538.5.8 Check-Out. H-53

8.6 Implementation Option(s) H-548.6.1 Vehicle Electronics H-548.6.2 Infrastructure Instrumentation H-568.6.3 Roadway Infrastructure H-56


8.6.4 Deployment H-57

9. Concept 8a: Infrastructure Supported Free Agent on Dedicated Lanes,with Mixed Classes H-59

9.1 Overview H-599.2 Selected alternative from each dimension H-59

9.2.1 Infrastructure Supported H-599.2.2 Free Agent. H-599.2.3 Dedicated Lanes With Continuous Physical Barrier H-599.2.4 Mixed Vehicle Classes in Lanes H-599.2.5 Dedicated Entry and Exit H-599.2.6 Automatic Sensing and Avoidance H-60

9.3 Operational Concept H-609.4 System diagram H-61

9.4.1 Interface 1 (Il)-Vehicle to Vehicle in Front H-619.4.2 Interface 2 (I2)-Vehicle to Other Vehicle H-619.4.3 Interface 3 (B)-Vehicle to Vehicle Behind H-619.4.4 Interface 4 (I4)-Vehicle to Roadway Markers H-629.4.5 Interface 5 (I5)-Local Vehicle-to-Vehicle Communications Beacon H-629.4.6 Interface 6 (I6)-Local "GPS" Beacon to Vehicle H-629.4.7 Interface 7 (I7)-ITS to Vehicle H-629.4.8 Interface 8 (l8)-GPS to Vehicle H-629.4.9 Interface 9 (I9)-Traffic Management to Local Vehicle-to-VehicleCommunications Beacon H-629.4.10 Interface 10 (IlO)-Traffic Management to Local "GPS" Beacon H-629.4.11 Interface 11 (11 I)-Traffic Management to ITS H-629.4.12 Interface 12 (Il2)-Pseudolites to Vehicle H-629.4.13 Interface 13 (Il3)-GPS to Pseudolites H-639.4.14 Interface 14 (I14)-Local "GPS" Beacon to Pseudolites H-63

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9.5 Functional allocation H-639.5.1 Check-In H-639.5.2 Transition from manual to automatic control H-639.5.3 Automated driving H-63

9.5.3.1. Sensing of roadway, vehicles, and obstructions H-639.5.3.2. Lane and headway keeping H-649.5.3.3. Detection of hazards H-649.5.3.4. Maneuver planning (normal or emergency) H-659.5.3.5. Maneuver execution H-65

9.5.4 Transition From Automatic to Manual Control H-659.5.5 Check-Out. H-659.5.6 Flow Control. H-659.5.7 Malfunction Management.. H-659.5.8 Handling of Emergencies H-65



9.6.3 Deployment H-669.7 General Issues and Considerations H-66

10. Concept 8b: Isacado H-6910.1 Overview H-6910.2 Selected Alternative from Each Dimension H-69

10.2.1 Distribution of Intelligence H-6910.2.2 Separation Policy H-6910.2.3 Mixing of AHS and Non-AHS Vehicles in Same Lane H-7010.2.4 Mixing of Vehicle Classes in a Lane H-7010.2.5 EntrylExit H-7010.2.6 Obstacle H-70

10.3 Operational Concept H-7010.3.1 Normal Operating Condition H-70

10.3.1.1. Access H-7010.3.1.2. Exit H-7110.3.1.3. Normal Travel H-71

10.3.2 Degraded AHS Condition H-7110.3.3 Failed AHS Condition H-71

lOA Functional Allocation '" H-7210.5 Implementations H-72

10.5.1 Vehicle H-7210.5.2 Infrastructure H-72

10.5.2.1. Rural highway H-7210.5.2.2. Urban Region H-72

10.5.3 Deployment. H-7310.5.3.1. Vehicles H-7310.5.3.2. Infrastructure H-74

10.6 General Issues and Considerations H-7410.6.1 Implementation Flexibility H-7410.6.2 Cost. H-7410.6.3 Freight Carriers H-74

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11.1 Overview H-7511.1.1 Distinguishing features H-75

11.2 Selected Alternatives From Each Dimension H-7611.2.1 Infrastructure Support H-76

11.2.1.1. Local Tai10rability: H-7611.2.2 Platooning With Mixed Vehicle Classes in a Lane H-76

11.2.2.1. Local Tai10rabi1ity (Platooning) H-7611.2.2.2 Local Tailorability (Vehicle classes in a lane): H-77

11.2.3 Dedicated Lanes with Continuous Physical Barriers H-7711.2.4 Dedicated Entry-Exit. H-7711.2.5 Automated Sensing Obstacles and Automatic Avoidance

Maneuver If Possible H-7711.3 Operational Concept. H-7711.4 System Diagram H-8011.5 Functional Allocations H-81

11.5.1 Check-In H-8111.5.2 Transition from Manual to Automatic ControL H-8111.5.3 Sensing of Roadway, Vehicles, and Obstructions H-8111.5.4 Lane and Headway Keeping H-8211.5.5 Detection of Hazards H-8211.5.6 Maneuver Planning H-8211.5.7 Maneuver Execution H-8211.5.8 Transition from Automatic to Manual ControL H-8211.5.9 Check-Out H-8211.5.10 Flow Control.. H-8211.5.11 Malfunction Management.. H-8211.5.12 Handling Emergencies H-82

11.6 Implementation H-8211.6.1 Vehicle H-82

11.6.1.1. Roadway Sensing H-8211.6.1.2. Sensing Other Vehicles H-8311.6.1.3. Vehicle-to-Vehicle Communication H-8311.6.1.4. Vehicle-to-Infrastructure Communication H-8311.6.1.5. Vehicle Identification Tag H-83

11.6.2 Infrastructure H-8311.6.2.1. Low Level Modifications H-8311.6.2.2. Intermediate-level modifications H-8411.6.2.3. High Level Infrastructure modification H-84

11.6.3 Rural Highway H-8411.6.4 Urban Highway H-8411.6.5 Dep10yment. H-84

11.7 General Issues and Considerations H-8511.7.1 Failure modes H-8511.7.2 Sensing weather conditions H-8511.7.3 Vehicle functionality H-8511.7.4 Throughput and Safety H-8511.7.5 Cost. H-85

National Automated Highway System Consortium


12. Concept 10: Infrastructure Managed Free Agents on Dedicated Lanes with Gaps H-8612.1 Overview H-8612.2 Selected Alternative From Each Dimension H-8612.3 Operational Concept. H-8612.4 System Diagram H-8712.5 Functional Allocation H-87

12.5.1 Check-In H-8712.5.2 Transition From Manual to Automatic ControL H-8712.5.3 Sensing of Roadway, Vehicles, and Obstructions H-8812.5.4 Lane and Headway Keeping H-8912.5.5 Maneuver Planning H-8912.5.6 Maneuver Execution H-9012.5.7 Transition From Automatic To Manual Control H-9012.5.8 Check-Out H-9012.5.9 Flow Control H-9012.5.10 Malfunction Management.. H-90


12.6.2.1. Rural Highway H-9112.6.3 Deployment. H-91

12.7 Issues H-9112.7.1 Obstacle Detection Sensor '" H-9112.7.2 Vehicle Position Determination H-91

13. Concept 11: Infrastructure Managed Mixed Platooning With Transition Lanes H-9313.1 Overview H-9313.2 Trade Offs H-9313.3 System Diagram H-9313.4 Operational Concept H-9513.5 Functional Allocation H-97

13.5.1 Baseline Functions H-9713.5.1.1. Check-In H-9713.5.1.2. Automatic mode of driving H-9713.5.1.2.1. Joining the platoon H-9713.5.1.2.2. Separating from platoon H-9713.5.1.2.3. Sensing of roadway, vehicle and obstructions H-9713.5.1.2.4. Maneuver planning and execution H-9813.5.1.3. Check out. H-9813.5.1.4. Malfunction management H-9813.5.1.4.1. Vehicle malfunction H-9813.5.1.4.2. Infrastructure malfunction H-9913.5.1.5. Emergency handling H-9913.5.1.6. Flow control H-99

13.6 Implementations '" H-9913.6.1 On-Board Vehicle Systems H-99

13.6.1.1. On-Board Computer H-lOO13.6.1.2. Headway detection system H-lOO13.6.1.3. Lateral sensing system H-lOO13 .6.1.4. Side looking proximity sensors H-IOO

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13.6.1.5. Lateral and longitudinal control subsystems H-IOO13.6.1.6. Communication module H-IOO13.6.1.7. Antenna array H-10013.6.1.8. Backup power system H-100

13.6.2 Infrastructure Modifications H-10013.6.2.1. Rural highway implementation H-10113.6.2.2 Urban region implementation H-lO1

13.6.3 Deployment. H-I0l

14. Concept 12a: Infrastructure Managed Mixed Free Agents H-10214.1 Overview H-10214.2 Selected Alternative from Each Dimension H-10214.3 Operational Concept. H-I04

14.3.1 Driver Point of View H-I0414.3.2 Vehicle Point of View H-I04

14.4 System Diagram H-I0614.5 Functional Allocation H-107

14.5.1 Baseline Functions H-I0714.5.1.1. Check-in H-10714.5.1.2. Transition from manual to automatic control.. H-10714.5.1.3. Automated Sensing of roadway, vehicles and obstacles H-10814.5.1.4. Longitudinal sensing H-10814.5.1.5. Lateral sensing H-10814.5.1.6. Obstacle sensing H-10814.5.1.7. Vehicle longitudinal position sensing H-10814.5.1.8. Vehicle lateral position sensing H-10814.5.1.9. Automated Sensing of vehicles and obstacles H-10814.5.1.10. Collision avoidance H-10814.5.1.11. Automated headway keeping H-10814.5.1.12. Automated Lateral Controller. (Lane Keeping) H-10914.5.1.13. Detection ofhazards H-10914.5.1.14. Normal Maneuver planning H-10914.5.1.15. Emergency Maneuver planning H-10914.5.1.16. Normal Maneuver execution H-10914.5.1.17. Emergency Maneuver execution H-10914.5.1.18. Transition from automatic to manual control H-II014.5.1.19. Check out H-11014.5.1.20. Flow controL H-11O14.5.1.21. Malfunction management H-11014.5.1.22. Handling of emergencies H-110


14.6.1.1. Required vehicle components H-11214.6.1.2. Vehicle implementation issues and considerations H-112

14.6.2 Infrastructure H-11214.6.2.1. Rural Highway H-l1314.6.2.2. Urban Highway H-113

14.6.3 Deployment. H-l1314.7 General Issues and Considerations H-114

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15. Concept 12B: Concept #12B: Infrastructure Managed Unmixed Free Agents H-12015.1 Overview H-12015.2 Selected Alternative from Each Dimension H-12015.3 Operational Concept H-122

15.3.1 Driver Point of View H-12215.3.2 Vehicle Point of View H-122

15.4 SystemDiagram H-12315.5 Functional Allocation H-125

15.5.1 Baseline functions H-12515.6 Implementation H-128

15.6.1 Vehicle H-12815.6.1.2. Vehicle implementation issues and considerations H-130

15.6.2 Infrastructure H-13015.6.2.1. Rural Highway H-13115.6.2.2. Urban Highway H-131

15.6.3 Deployment H-13115.7 General Issues and Considerations H-131

16. Concept 13: Infrastructure Managed Unmixed Platooning H-13716.1 Overview H-13716.2 Selected Alternative from Each Dimension H-13716.3 Operational Concept. H-139

16.3.1 Driver Point of View H-13916.3.2 Vehicle Point of View H-14016.3.3 Platoon Point of View H-141

16.4 System Diagram H-14116.5 Functional Allocation " H-143

16.5.1 Baseline Functions H-14316.6 Implementation H-146

16.6.1 Vehicle H-14616.6.1.1. Required vehicle components H-14716.6.1.2. Vehicle implementation issues and considerations H-148

16.6.2 Infrastructure H-14816.6.2.1. Rural Highway H-14816.6.2.2. Urban Highway H-149

16.6.3 Deployment. H-14916.7 General Issues and Considerations H-149

17. Concept 14: Infrastructure Supported Platoons With Gaps In Physical Barriers H-15517.1 Overview H-155

17.1.1 Distinguishing Features H-15517.2 Selected Alternatives from Each Dimension H-155

17.2.1 Infrastructure Support.. '" H-15517.2.1.1. Local Tailorability: H-156

17.2.2 Platooning With Mixed Vehicle Classes in a Lane H-15617.2.2.1. Local Tailorability (Platooning) H-15617.2.2.2. Local Tailorability (Vehicle classes in a lane) H-156

17.2.3 AHS and Non-AHS Lanes Separated By Physical BarriersWith Some Gaps For EntrylExit.. H-157

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17.2.4 Transition Lane EntrylExit H-15717.2.5 Automated Sensing Obstacles and Automatic Avoidance

Maneuver If Possible H-15717.3 Operational Concept. H-15717.4 System Diagram H-16117.5 Functional Allocations H-161

17.5.1 Check-In H-16117.5.2 Transition from Manual to Automatic Control.. H-16217.5.3 Sensing of Roadway, Vehicles, and Obstructions H-16217.5.4 Lane and Headway Keeping H-16217.5.5 Detection of Hazards H-16217.5.6 Maneuver Planning H-16217.5.7 Maneuver Execution H-16217.5.8 Transition from Automatic to Manual Control.. H-16217.5.9 Check-Out H-16217.5.10 Flow Control.. H-16217.5.11 Malfunction Management. H-16217.5.12 Handling Emergencies H-163


17.6.1.1. Roadway Sensing H-16317.6.1.2. Sensing Other Vehicles H-16317.6.1.3. Vehicle-to-Vehicle Communication H-16317.6.1.4. Vehicle-to-Infrastructure Communication H-16317.6.1.5. Vehicle Identification Tag H-I64

17.6.2 Infrastructure H-16417.6.2.1. Low Level Modifications H-16417.6.2.2. Intermediate-level modifications H-I6417.6.2.3. High Level Infrastructure modification H-I64

17.6.3 Rural Highway H-I6417.6.4 Urban Highway H-I6417.6.5 Deployment H-164

17.7 General Issues and Considerations H-16517.7.1 Failure modes H-16517.7.2 Sensing Weather Conditions H-16517.7.3 Vehicle Functionality H-16517.7.4 Throughput and Safety H-16517.7.5 Cost. H-166

18. Concept 15: Infrastructure Managed Full Mixing H-16718.1 Overview H-16718.2 Selected Alternative Dimensional Description H-167

18.2.1 Distribution of Intelligence-Infrastructure Managed H-16718.2.2 Separation Policy-Free Agent H-16718.2.3 Mixing of AHS and non-AHS Vehicles in Same Lane-

Full Mixing H-16718.2.4 Mixing of Vehicle Classes in a Lane-Mixed H-16818.2.5 EntrylExit-Transition H-16818.2.6 Obstacle Sensing and Avoidance-Automatic Sensing &

Automatic Avoidance Maneuver H-168

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18.3 Operational Concept H-16818.4 SystemDiagram H-16918.5 Functional Allocation H-169

18.5.1 Check-In H-16918.5.2 Transition from Manual to Automatic Control.. H-16918.5.3 Automated Driving H-170

18.5.3.1. Sensing of Roadway, Vehicles, and Obstructions H-17018.5.3.2. Lane and Headway Keeping H-17018.5.3.3. Detection ofHazards H-17018.5.3.4. Maneuver Planning H-17118.5.3.5. Maneuver Execution H-I71

18.5.4 Transition from Automatic to Manual Control.. H-17118.5.5 Check-out. H-17118.5.6 Control of Traffic Flow H-17118.5.7 Global Decisions H-17118.5.8 Status Monitoring H-17518.5.8 Status Monitoring H-17118.5.9 Vehicle Malfunction Management.. H-l7218.5.10 Incident Management (Handling of Emergency) H-172

18.6 General Issues and Considerations H-172

19. Concept 16: Free Agent on Mixed-Class Dedicated Lanes with Virtual Barriers H-17319.1 Overview H-17319.2 Selected Alternative from Each Dimension H-173

19.2.1 Free Agent in a Mixed Vehicle-Class Environment H-17319.2.2 Distribution of Intelligence: Infrastructure Supported H-17319.2.3 Separation Policy: Free Agent H-17419.2.4 Transition Lane and Location of the Virtual Barrier H-17419.2.5 Obstacle: Automated Sensing and Avoidance Maneuver H-17419.2.6 Infrastructure Messages H-17419.2.7 Check-in Procedure H-174

19.3 Operational Concept H-17419.3.1 Check-In H-17419.3.2 Transition to Automated Control H-17419.3.3 Automated Driving H-17519.3.4 Check-Out and Transition to Manual Operation H-17519.3.5 Communications to Support Maneuver Coordination H-17519.3.6 Communications to Support Check-In and Check-Out

Advisories and Traffic Flow Information H-17519.4 Functional Allocation H-175

19.4.1 Position ControL H-17519.4.2 Maneuver Coordination H-17619.4.3 Hazard Management H-17619.4.4 Malfunction Management H-17619.4.5 Flow Control H-17719.4.6 Operator Interface H-17719.4.7 Check-In H-17719.4.8 Check-Out H-177

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19.5 Implementation H-17719.5.1 Infrastructure H-177



20. Concept 17: Cooperative Platooning with Virtual Lanes H-17920.1 Overview H-17920.2 Selected Alternative From Each Dimension H-17920.3 Operational Concept H-17920.4 System Diagram H-17920.5 Functional Allocation H-180

20.5.1 Check-In H-18020.5.2 Transition From Manual To Automatic Control.. H-18020.5.3 Sensing of Roadway, Vehicles, And Obstructions H-18020.5.4 Lane and Headway Keeping H-18220.5.5 Maneuver Planning H-18220.5.6 Maneuver Execution H-18320.5.7 Transition From Automatic To Manual Control.. H-18320.5.8 Flow Control H-18320.5.9 Malfunction Management H-18320.5.10 Handling of Emergencies H-183

20.6 Implementation H-18320.6.1 Vehicle H-18320.6.2 Infrastructure H-18320.6.3 Rural Highway H-18320.6.4 Deployment. H-184

20.7 Issues H-18420.7.1 Obstacle Detection Sensor H-18420.7.2 Vehicle Position Determination H-184

21. Concept 18: Cooperative Vehicles on Dedicated Lanes H-18521.1 Overview H-18521.2 Selected Alternative From Each Dimension H-18521.3 Operational Concept.. H-185

21.3.1 Communications H-18521.3.2 Check In H-18621.3.3 Normal Operations, Including Obstacle Detection H-18621.3.4 Check Out. H-18721.3.5 Use of AHS Technology for Rural and Inner-City Driving H-187

21.4 Functional Allocation H-18721.5 Implementation H-187

21.5.1 Vehicle H-18721.5.2 Infrastructure H-18721.5.3 Deployment. H-187

21.6 General Issues and Considerations H-187

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22. Concept 19: Infrastructure Managed Platoons With Automatic Sensing, Stop, andManually Avoid H-188

22.1 Overview H-18822.2 Selected Alternative Dimensional Description H-188

22.2.1 Distribution of Intelligence-Infrastructure Managed H-18822.2.2 Separation Policy-Platooning H-l8822.2.3 Mixing of AHS and non-AHS Vehicles-Dedicated Lanes

with Continuous Physical Barriers H-18922.2.4 Mixing of Vehicle Classes in a Lane-Mixed H-18922.2.5 Entry/Exit-Dedicated H-18922.2.6 Obstacle Sensing and Avoidance-Automatic Sensing, and

Stop or Manually Avoid H-18922.3 Operational Concept. H-18922.4 System Diagram H-19022.5 Functional Allocation H-190

22.5.1 Check-In H-19022.5.2 Transition from Manual to Automatic Control.. H-19022.5.3 Automated Driving H-191

22.5.3.1. Sensing of roadway, vehicles, and obstructions H-19122.5.3.2. Lane and headway keeping H-19122.5.3.3. Detection of hazards H-19122.5.3.4. Maneuver planning H-19122.5.3.5. Maneuver execution H-192

22.5.4 Transition from Automatic to Manual Control.. H-19222.5.5 Check-Out H-19222.5.6 Flow Control H-19222.5.7 Malfunction Management H-19222.5.8 Handling of Emergencies H-192


22.6.2.1. Rural highway H-19322.6.2.2. Urban region H-193


23. Concept 20: Automated Sensing, Stop and Manually Avoid without Class Mixing H-19523.1 Overview H-19523.2 Concept Dimensions H-195

23.2.1 Infrastructure Supported H-19523.2.2 Free Agent H-19523.2.3 Dedicated Lanes With Continuous Physical Barrier H-19523.2.4 Vehicle Classes Not Mixed in Lanes H-19523.2.5 Dedicated Entry and Exit H-19523.2.6 Automatic Sensing, Stop, and Manual Avoidance H-195

23.3 Operational Concept. H-19623.4 Functional Allocation H-196

23.4.1 Check-In H-19623.4.2 Transition from Manual to Automatic Control.. H-196

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23.4.3 Automated Driving H-19623.4.3.1. Sensing of roadway, vehicles, and obstructions H-19623.4.3.2. Lane and headway keeping H-19623.4.3.3. Detection of hazards H-19623.4.3.4. Maneuver planning (normal or emergency) H-19623.4.3.5. Maneuver execution H-196

23.4.4 Transition from Automatic to Manual Control.. H-19623.4.5 Check-Out H-19723.4.6 Flow Control H-19723.4.7 Malfunction Management H-19723.4.8 Handling of emergencies H-197

23.5 Implementations H-19723.5.1. Vehicle H-19723.5.2 Infrastructure H-197

23.5.2.1. Rural highway H-l9723.5.2.2. Urban region H-197

23.5.3 Deployment. H-19723.6 Issues H-197

National Automated Highway System Consortium

APPENDIX A - DISTRIBUTION OFINTELLIGENCE TABLE

The following table shows the allocations ofeach of the functions for each of an early setof eleven alternative AHS Concepts. Notethat these alternatives are quite generic, andthere are different allocations shown inmany cases. The following notation is used:

P person

V vehicle

Vs vehicle in concert with other vehicles

R roadway

C centralized

[option]

(Alternatives)

{set within list of alternatives)

Distrib-ACCand locally uted Infra-

Lane- Auto- Cooper- Across structureBaseline keeping nomous ative Region Supported

Sense relative longitudinal P,M [P],[V] V Vs Vs (Vs,V)position

Adjust relative longitudinal P [P],[V] V Vs Vs (Vs,V)position

Sense lateral position P,[V] [P],[V] V Vs Vs (Vs,V)relative to lane

Adjust lateral position P [P],[V] V Vs Vs (Vs,V)relative to lane

Determine lateral P P,M V Vs Vs (Vs,V)position/ velocity relativeto other vehicles

Determine safety of lane P P, [V- V Vs Vs (Vs,V)change warning?]

Adjust longitudinal P P V Vs Vs (Vs,V)position/speed for lanechange

Direct other vehicles to N N N Vs Vs (Vs,N)accommodate lanechange

Command execute lane P P V Vs Vs (Vs,V)change

Sense potential hazard P P,M V Vs Vs (Vs,V), [R]due to other vehicle

Sense obstacle hazard P [P],[V] V Vs Vs (Vs,V), [R]

React to hazard P [P],[V] V Vs Vs (Vs,V)

Adjust traffic to optimize (C,N) (C,N) (C,N) (C,N) ({[C], Vs,[C,R]flow [Vs]},N)

National Automated Highway System Consortium A-1

Appendices of NAHSC Concept Generation Final Report

- Distrib-ACC and locally uted Infra-

lane- Auto- Cooper- Across structureBaseline keeping nomous ative Region Supported

Determine route P P [P],[V] [P], [V] [P],M [P],[V]

Modify route P P [P],[V] [P], [V] [P],[V], [P],[V], [Vs][Vs]

Determine lane P P [P],V [P],V, Vs (V,Vs), [R][Vs]

Monitor traffic [R],[C],[V],[ [R],[C],[V],[ [R],[C],[V],[ [R],[C],[V [R],[C], [R],[C],N] N] N] ],[Vs],[N] [V],Vs [V],[Vs], [N]

Determine traffic (C,N) (C,N) (C,N) (C,N) [C],Vs [C],[Vs], [N]management strategy

Determine optimal traffic (C,N) (C,N) (C,N) (C,N) [C],[Vs] [R],[C],flow parameters I [Vs],[N]

Sense incident! P,[V], P,[V], V,[P], V,Vs, V,Vs, [P], V,[R],[C],malfunction [R],[C] [R],[C] [R],[C] [P],[R],[C [C] [Vs],[P]

]

React to incident! P,C P,C,M V,[P], V,Vs, V,Vs, V,[R],[C],malfunction [R],[C] [P],[R],[C [P],[R], [C] [Vs],[P]

]

Test for entry P P, [V] P,V Vs,[P] Vs,[P] V,[R],[Vs],[P]

Manage entry P P, [V] [P],V Vs Vs (Vs,V), [R]

Test for exit P P [P],[V] Vs,[V],[P Vs (Vs,V),] [R],[P]

Manage exit P P, [V] [P],M VS Vs (Vs,V),[R],[P]

Command vehicle P [P],[V] [P],V [P],V [P],V V,[P],[R]actuators

Tell vehicles about road R-exists R R Vs,R, Vs,R R,[Vs]geometry [R-

active]

Medium- Short-term Throttle,Directed Term Goal Goal Steering GPS-Platoons Control Control Control based

Sense relative longitudinal Vs V,[Vs] R,[V] R Vs using C-position GPS

Adjust relative longitudinal Vs V,[Vs] V under R R Vsposition direction

Sense lateral position relative Vs V,[Vs] R,[V] R Vs using C-to lane GPS

Adjust lateral position relative Vs V,[Vs] V under R R Vsto lane direction

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Appendix A - Distribution of Intelligence Table

- Medium- Short-term Throttle,Directed Term Goal Goal Steering GPS-Platoons Control Control Control based

Determine lateral position/ Vs V, [Vs,[R]] R R Vs using C-velocity relative to other GPSvehicles

Determine safety of lane Vs R,[Vs] R R Vschange

Adjust longitudinal Vs R,[Vs] R R Vsposition/speed for lane change

Direct other vehicles to Vs R R R Vsaccommodate lane change

Command execute lane Vs R R R Vschange

Sense potential hazard due to Vs R,[V],[Vs] R,[V], [Vs] R Vsother vehicle

Sense obstacle hazard Vs R,[V],[Vs] R,[V] R Vs

React to hazard Vs,R R,V, [Vs] R,[V] R Vs

Adjust traffic to optimize flow Vs,R, [C] R,[C], [Vs] ({R, [C]},N) ({R, [C]},N) ({[C], [Vs]},N)

Determine route [P],[V], [P],[V], [P],[V], [P],[V], [P],[V][R,[C]] [R,[C]] [R,[C]] [R,[C]]

Modify route [Pj,[V], [Vsj, [P],[V], [P],[V], [P],[V], [P],[V], [Vsj[R,[C]] [R,[C]] [R,[C]] [R,[C]]

Determine lane [R],[Vs] R,[V] R R [P],V, [Vs]

Monitor traffic R,[Vs], [C] R,[C] R,[C] R,[C] [R],[C],[V],[Vs],[N]

Determine traffic management R,[C], [Vs] R,[C] R,[C] R,[C] ({[C], [Vs]},N)strategy

Determine optimal traffic flow R,[C], [Vs] [R],[C] [R],[C] [R],[C] ({[C], [Vs]},N)parameters

Sense incident! malfunction V,R,Vs, R,[V], R,[V], R,M, V,Vs, [P],[R],[C],[P] [C],[Pj [C],[P] [C],[P] [C]

React to incident! malfunction V,R,Vs, R,V, [C],[Pj R,V, [C],[P] R,V, [C],[P] V,Vs, [P],[R],[C],[P] [C]

Test for entry Vs,[V], R,[V],[Pj R,[V], [P] R,[V], [P] VS,[P][R],[P]

Manage entry Vs,[R] R,[V] R R Vs using C-GPS

Test for exit Vs,[R] R,[V] R,[V] R Vs

Manage exit Vs,R R,[V] R,[V] R,[V] Vs

Command vehicle actuators V,[P] V V R V

Tell vehicles about road Vs,[R] R N N C-Maps, [R]geometry

National Automated Highway System Consortium A-3

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