Appendix H - Example ADS Testing Scenario Diagrams.pdf
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- Solicitation number
- RFP - 171 - 240000001496
- Issued by
- Ingham County, Lansing City, Michigan
About this file
This document is an Appendix H to the Automated Driving System (ADS) Scenarios for Testing and Verification provided by the Automated Bus Consortium (ABC). The scenarios detailed in this document are intended to support state and local agencies in Ingham County and the city of Lansing, Michigan as they seek to procure Level 4 Automated Transit Buses through a Request for Solution (RFS). The scenarios cover a range of basic maneuvers, environmental conditions, and intersection geometries that automated bus systems must be able to navigate safely. Key scenarios include traveling through signalized intersections, navigating 4-way and 2-way stop-controlled intersections, making left turns, and responding to pedestrians, bicyclists, and other vehicles. The scenarios are designed to assess the performance and safety capabilities of automated bus systems as required under the RFS.
The RFS seeks innovative solutions for Level 4 Automated Transit Buses to serve the Ingham County and Lansing, Michigan areas. No specific quantities are provided, as this is an open-ended RFS for qualified solutions. Responses to the RFS are due by a date not specified in the provided documentation. The contract term and any renewal options are also not detailed. Pricing information, funding sources, and other commercial terms are not included in the provided materials.
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Other files
| File | Type | Posted |
|---|---|---|
| ABC Bus Consortium RFS 240000001496.docx | DOCX document | |
| Appendix E_ | — | |
| Appendix I - Agency ODD Matrix.pdf | ||
| Appendix G - Sample ADS Testing Forms.pdf | ||
| CER 9.5 ADS SpecCompliance.xlsx | XLSX spreadsheet | |
| Schedule B - Pricing.xlsx | XLSX spreadsheet | |
| Appendix A - APTA Standadrd Bus Specification.pdf |
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Automated Bus Consortium (ABC) Automated Driving System (ADS) Scenarios for Testing and Verification
Appendix H
Scenario Construction
Level
Basic
Maneuver
Sequence
Natural Environment
Weather Conditions
Lighting
Roadway Traction
Built Environment
Roadway Geometry
Intersection Geometry
Lane Configuration
Bus Stop Location
Intersection Control
Signalized
4-way Stop
2-way Stop
Yield
Roundabout
Actors
Non-interacting
Interacting
Vehicles
VRUs
Passengers
Animals
Objects
Anomalies
Actor Behavior
Intersection Control
Roadway (Work Zone)
Weather
Nominal
Scenario: Traveling Straight Through a Signalized Intersection
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
Signal Phases
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Signalized Intersection – Straight Baseline
Peds: 1
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: Various
Intended Path: Straight
Signal Phases
Non-interacting dynamic actors
Motorcycles: None
Scenario: Signalized Intersection – Straight Conflict: Vehicle taking right-of-way
VRUs
Test Options
Conflicts: (1: Turning Vehicle) (1 potential: Turning Vehicle) Interacting Vehicle: 1
Non-interacting Vehicle: Various
Intended Path: Straight
Signal Phases
Potential Safety Envelope Violation
Potential Conflict Vehicle: 1
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Vehicle illegal turn)
Interacting Vehicle: 1
Non-interacting Vehicle: Various
Intended Path: Straight
Signal Phases
Conflict vehicle making illegal turn
Scenario: Left Turn at a Signalized Intersection
Motorcycles: None
Scenario: Signalized Intersection – Left Turn Baseline
VRUs
Test Options
Conflicts: (None)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Left Turn
Signal Phases
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Ped)
Interacting Vehicle: None
Non-interacting Vehicle: Various
Intended Path: Left Turn
Signal Phases
Scenario: Signalized Intersection – Left Turn Non-interacting dynamic actors
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Ped)
Interacting Vehicle: None
Non-interacting Vehicle: Various
Intended Path: Left Turn
Signal Phases
Scenario: Signalized Intersection – Left Turn Conflict: Pedestrian has/does not have right-of-way
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Oncoming Vehicle)
Interacting Vehicle: 1
Non-interacting Vehicle: Various
Intended Path: Left Turn
Signal Phases
Scenario: Signalized Intersection – Left Turn Conflict:
Oncoming vehicle: Has ROW (permissive left turn – Stage 3 requirement).
Does not have ROW
Motorcycles: None
VRUs
Test Options
Conflicts: (2: Ped, Oncoming Vehicle)
Interacting Vehicle: 1
Non-interacting Vehicle: Various
Intended Path: Left Turn
Signal Phases
Scenario: Signalized Intersection – Left Turn Conflict:
Oncoming vehicle:
Has ROW (permissive left turn – Stage 3 requirement) Does not have ROW Pedestrian has ROW (permissive left turn – Stage 3 requirement) Pedestrian does not have ROW
Scenario: Straight Through a 4-way Stop-sign Controlled
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 4-way Stop Intersection – Straight Baseline
STOP
Peds: 2
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: Various
Intended Path: Straight
Scenario: 4-way Stop Intersection – Straight Non-interacting dynamic actors
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: 2
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 4-way Stop Intersection – Straight Determine order-of-precedence
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Pedestrian)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 4-way Stop Intersection – Straight Pedestrian in crosswalk
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Pedestrian in crosswalk)
Interacting Vehicle: 2
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 4-way Stop Intersection – Straight Determine order-of-precedence; manage ped conflict in crosswalk
Scenario: Navigating Through a Signalized Intersection Flashing Red (Stage 3 Requirement)
Baseline shown – repeat all tests for 4-way stop scenario
Motorcycles: None
Signal Phases
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Signalized Intersection – Flashing Red Baseline
Scenario: Straight Through a 2-way Stop-sign Controlled
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Baseline
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: 2
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Non-interacting dynamic actors
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Cross-traffic vehicle)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Interacting vehicle with conflict
Motorcycles: None
VRUs
Test Options
Conflicts: (2: Cross-traffic vehicles)
Interacting Vehicle: 2
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Interacting vehicles with conflict
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Ped in crosswalk)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Pedestrian conflict
Motorcycles: None
VRUs
Test Options
Conflicts: (2: Cross-traffic vehicle, Ped in crosswalk) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: 2-way Stop Intersection – Straight Interacting vehicle and pedestrian conflicts
Scenario: Turn Left Through a 2-way Stop-sign Controlled
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Intended Path: Left Turn
Scenario: 2-way Stop Intersection – Turn Left Baseline
Motorcycles: None
VRUs
Test Options
Conflicts: (1 potential: Cross-traffic vehicle far side) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Intended Path: Left Turn
Scenario: 2-way Stop Intersection – Straight Interacting vehicle with conflict
STOP
Motorcycles: None
VRUs
Test Options
Conflicts: (1 : Cross-traffic vehicle far side) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Intended Path: Left Turn
Scenario: 2-way Stop Intersection – Straight Interacting vehicle with conflict
STOP
Potential Conflict Vehicle: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Cross-traffic vehicle near side) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Intended Path: Left Turn
Scenario: 2-way Stop Intersection – Straight Interacting vehicle with conflict
Scenario: Navigating a Yield Intersection (Stage 3 Requirement)
Test Options
Conflicts: (1: Cross-traffic)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Right Turn
Scenario: Yield Intersection Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Right Turn
Scenario: Yield Intersection Interacting vehicle with conflict
Peds: None
Bicyclists/Scooters: None
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Right Turn
Scenario: Yield Intersection Interacting vehicle with potential conflict
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: (1 Potential: Main lane traffic)
Scenario: Mid-block Pedestrian Crossing
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Mid-block Pedestrian Crossing Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Conflicts: (1 potential: Safety envelope violation) Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Mid-block Pedestrian Crossing Crosswalk flashing yellow
Peds: 1
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Conflicts: (1: Pedestrian in crosswalk)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Mid-block Pedestrian Crossing Crosswalk flashing red
Peds: 1
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Scenario: Bus Stop Interaction (Approach)
Scenario: Bus stop entrance
Peds: Passengers
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Intended Path: Bus Stop Entrance
Scenario: Bus stop entrance Lead vehicle before stop
Peds: Passengers
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Lead vehicle)
Interacting Vehicle: 1
Non-interacting Vehicle: 1
Intended Path: Intended Path: Bus Stop Entrance
Scenario: Bus Stop Interaction (Depart)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Intended Path: Bus Stop Exit
Scenario: Bus stop exit Baseline
Peds: None
Bicyclists/Scooters: None
Conflicts: (1: Crosstraffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Intended Path: Bus Stop Exit
Scenario: Bus stop exit Conflict with cross traffic
Peds: None
Bicyclists/Scooters: None
Conflicts: (1 potential: Main-lane vehicle) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Intended Path: Bus Stop Exit
Scenario: Bus stop exit Potential conflict with main-lane traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs v1 d1 ttc = d1/v1
Conflicts: (1 potential: Cross traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Bus Stop Exit
Scenario: Bus stop exit Potential conflict with main lane traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Scenario: Vehicle Overtaking
Conflicts: (2 potential: Safety envelope violations) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Slow Vehicle Overtaking Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Conflicts: (1: Passing vehicle) (2 potential: Safety envelope violations) Interacting Vehicle: 2
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Slow Vehicle Overtaking Watch for passing traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Scenario: Lane Changing
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Lane Changing Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Conflicts: (1: Adjacent-lane Traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Lane Changing Conflict Adjacent-lane Traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Conflicts: (1 Potential: Adjacent-lane Traffic Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Lane Changing Potential Conflict Adjacent-lane Traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Scenario: Vehicle Blocking Lane violations) Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Stopped Vehicle Overtaking Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Stopped/Stalled Vehicle: 1 violations) Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Vehicle Overtaking
Scenario: Stopped Vehicle Overtaking Watch for passing traffic
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Stopped/Stalled Vehicle: 1
Scenario: Low-speed Merge
Scenario: Low-speed Merge (<45mph)
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Merge
Non-interacting vehicles
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: 2
Intended Path: Merge
Adjust speed to merge
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Speed-dependent Potential Conflict
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1 Potential: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Potential Safety Envelope Violation
Potential Conflict Vehicle: (1 Potential: Main lane traffic)
Potential Conflict Vehicle Changes Lanes
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1 Potential: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Potential Safety Envelope Violation
Scenario: High-speed Merge
Scenario: High-speed Merge (>45mph)
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Merge
Non-interacting vehicles
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: None
Interacting Vehicle: None
Non-interacting Vehicle: 2
Intended Path: Merge
Adjust speed to merge
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Speed-dependent Potential Conflict
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1 Potential: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Potential Conflict Vehicle Changes Lanes
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Test Options
Conflicts: (1 Potential: Main lane traffic)
Interacting Vehicle: 1
Non-interacting Vehicle: None
Intended Path: Merge
Potential Safety Envelope Violation
Scenario: Passing a Bicyclist in a Bike Lane violation) Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Passing a Bicyclist in Bike Lane Peds: None
Bicyclists/Scooters: 1
Motorcycles: None
VRUs
Scenario: Emergency Vehicle violation) Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Change lanes
Scenario: Emergency Vehicle Approach From Behind Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Emergency Vehicle: 1 violation) Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Change lanes
Scenario: Emergency Vehicle Approach From Behind, Adjacent Lane
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Safety Envelope Violation
Potential Conflict Vehicle: None Emergency Vehicle: 1 v
Scenario: Railroad Tracks
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Railroad Tracks Baseline
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Train: None
Conflicts: (1: Train)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Railroad Tracks Train approaching
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Train: Approaching
Conflicts: (1: Train)
Interacting Vehicle: None
Non-interacting Vehicle: None
Intended Path: Straight
Scenario: Railroad Tracks Train Crossing
Peds: None
Bicyclists/Scooters: None
Motorcycles: None
VRUs
Potential Conflict Vehicle: None Train: Crossing
Scenario: Integrated Route
Scenario: Integrated Route Baseline: No vehicles or VRUs Add vehicles and VRUs with no conflicts Add vehicles and VRUs with conflicts Add anomalous behaviors
| Appendix E Agency ODD Matrix |
| Appendix F ABC Test Form Template and Examples |
| Appendix G Scenario Diagrams |
File details come from the government source that posted it. Updated .