Appendix G - Sample ADS Testing Forms.pdf

Performing Organization Inspectors Observers Date Test Name Level (Basic Function, Individual Maneuver, Maneuver Chain)

Objective (brief description)

Planview Diagram

Scenario Description

Roadway(s)

Intersection(s) (number and types) Dynamic Actors Intermediate Stop Point(s) (Type and Number) Passenger Interaction Ambient Conditions

Criticalities (Anomalies)

Optional (y/n) Pass/Fail Min Max Units

Variations

Add Plan Diagram Variations

Comments / ObservationsEvaluation (Add components as necessary)

Acceptance Thresholds

Appendix G

Observers Date Test Name Level (Basic Function, Isolated Maneuver, Integrated Maneuver Sequence)

Objective (brief description)

Planview Diagram

Scenario Description

Roadway(s) Intersection(s) (number and types) Dynamic Actors Intermediate Stop Point(s) (Type and Number) Passenger Interaction Ambient Conditions Criticalities (Anomalies)

Optional Pass/Fail Min Max Units

The complete service route is found onboard the ADS- DV in electronic format, stored within the ADS

No

The service route is in the necessary format needed by the ADS to execute the route

No

The service route contains a start location No The service route contains an end location No The service route contains all bus stop locations No

Variations

Add Plan Diagram Variations

Comments / Observations

None Evaluation

(Add components as necessary) Acceptance Thresholds

N/A

None

Acquire and store service route

None

None

None

Basic Function

The ADS acquires a service route and store onboard the ADS-DV

N/A Service route is acquired by the ADS and stored onboard the ADS-DV

None

Perform ing O rganization Inspectors O bservers D ate Test N am e

Level (Basic Function, Isolated M aneuver, Integrated M aneuver Sequence)

O bjective (brief description)

Planview D iagram

Scenario D escription

Roadw ay(s)

Intersection(s) (num ber and types)

D ynam ic Actors Interm ediate Stop Point(s) (Type and N um ber)

Passenger Interaction

Am bient Conditions

Criticalities (Anom alies)

O ptional

Pass/Fail M in M ax U nits

The ADS-DV accelerates to the posted speed lim it

N o

The longitudinal and lateral m easures of jerk do not exceed perform ance thresholds

N o

-0.9 0.9 m /s^3

The ADS-DV does not physically contact any object, static or dynam ic, during the course of the route N o

The ADS-DV m aintains its speed w ithin threshold values (w hen no lead vehicle or other obstacle is present) N o x-2 x+2 m ph

The ADS-DV reduces its target speed w hen a lead vehicle is present such that a speed-appropriate distance is m aintained

N o

The ADS-DV m aintains its position in the center of the lane w ithin threshold values

N o ft

The ADS-DV detects the signal phase of the intersection traffic signal relevant to its lane of approach

N o

The ADS-DV turns on the appropriate turn signal prior to arriving at the intersection

N o

The ADS-DV perform s a turn at the intersection w hen it has the right-of-w ay to do so and there are no VRU s or other objects in the intended path, and no collision risk from cross traffic

N o

The ADS-DV accelerates to the posted speed lim it along the new roadw ay

N o

Variations

Com m ents / O bservations

N one (Base M aneuver) Com binations of:

Right-of-w ay violation by vehicles or VRU s at intersection

Double-parked vehicle on approach to intersection Signalized intersection all-w ay flashing red (Stage 3 requirem ent)

System fault:

Sensor fault Com puter fault W eather Sun glare Light/M oderate Rain Light/M oderate Snow

Evaluation (Add com ponents as necessary) Acceptance Thresholds

N one

N one

Isolated M aneuver

N om inal N ight Cloudy Rain Snow Fog

Signalized intersection turn left

The ADS-DV navigates a single signalized intersection w ith a variety of configurations, dynam ic actors, and anom alies

Bus approaches signalized intersection and turns left

M ulti-lane, bi-directional, speed lim it = 35m ph

Signalized (1) Vehicles, VRU s at intersection (light, m oderate, heavy)

Observers Date Test Name Level (Basic Function, Isolated Maneuver, Integrated Maneuver Sequence)

Objective (brief description)

Planview Diagram

Scenario Description

Roadway(s) Intersection(s) (Type and Number) Dynamic Actors Intermediate Stop Point(s) (Type and Number)

Passenger Interaction

Ambient Conditions

Criticalities (Anomalies)

Optional Pass/Fail Min Max Units The complete service route is found onboard the ADS-DV in electronic format, stored within the

ADS

No

The service route is in the necessary format needed by the ADS to execute the route No

The service route contains a start location No

The service route contains an end location No

The service route contains all bus stop locations No

The ADS-DV does not physically contact any object during the execution of the route No

The ADS-DV accelerates to the posted speed limit for each roadway along the route No

The longitudinal and lateral measures of jerk do not exceed performance thresholds No -0.9 0.9 m/s^3

The ADS-DV maintains its speed within threshold values (when no lead vehicle or other obstacle is present)

No x-2 x+2 mph

The ADS-DV reduces its target speed when a lead vehicle is present such that a speed-appropriate distance is maintained

No

The ADS-DV maintains its position in the center of the lane within threshold values No 0 1 ft

The ADS-DV detects the signal phase of signalized intersections relevant to its lane of approach No

If turning, the ADS-DV turns on the appropriate turn signal prior to arriving at the intersection No

If turning, the ADS-DV performs the turn at the intersection when it has the right-of-way to do so and there are no VRUs or other objects in the intended path, and no collision risk from cross traffic

No

If not turning, the ADS-DV proceedes straight at the intersection when it has the right-of-way to do so and there are no VRUs or other objects in the intended path, and no collision risk from cross traffic

No

If approaching an intersection controlled by a stop sign, the ADS-DV determines the order-of-precidence, and proceeds straight or turns when it has the right-of-way to do so and there are no VRUs or other objects in the intended path, and no collision risk from cross traffic

No

The ADS-DV approaches bus stop locations and stops No

At bus stops, the ADS-DV stops at a location close enough for passengers to board, including passengers requiring the deployment of a wheelchair ramp

No

At bus stops, the ADS-DV opens its doors and leaves them open long enough for passengers to board or exit, including passengers requiring the deployment of a wheelchair ramp

No

The ADS-DV pulls away from the bus stop and merges back into the main lanes of the roadway without causing a risk of collision by mainlane traffic

No

Variations

Add Plan Diagram Variations

Comments / Observations

None (Baseline Performance) Combinations of:

Right-of-way violation by vehicles and VRUs at intersections Vehicle lane change without signal Double-parked vehicle Signalized intersection all-way flashing red (Stage 3 requirement) Passenger-initiated emergency alarm System fault:

Sensor fault Computer fault Actuator fault Weather Sun glare Heavy Rain Heavy Snow

Evaluation (Add components as necessary)

Bus stop (2)

Waiting at bus stop Bus stop empty Requested stop

Acceptance Thresholds

Integrated Maneuver Sequence

Nominal Night Cloudy Rain Snow Fog

Short route navigation

The ADS-DV navigates a short route with multiple bus stops and intersections with a variety of configurations, dynamic actors, and anomalies

ADS-DV travels on 2-mile route, interacts with bus stops and passes through multiple intersections appropriately Multi-lane, bi-directional, speed limit = 40mph

Signalized (3), 4-way stop (1)

Vehicles and VRUs (light, moderate, heavy)