Attachment J.7_TO2 SOW_draft.pdf

DRAFTOffice of Safety Research and Development

Statement of Work For

HRSOXXXXXXXXXXXXXXX HDS IDIQ

Task Order Proposal Request HRSOXXXXXXX

Integrate CARMA Platform into Highway Driving Simulator (HDS) – Software Architecture Implementation (HDS Team)

May 23, 2023

DRAFT

1.0 Overview

This is a non-personal service task order to provide software development and technical support to assist with the implementation of software architecture document, that integrates various components of the CARMA Ecosystem to work with the Highway Driving Simulator (HDS) and its software / hardware system, Advanced Rendering Cluster for Highway Experimental Research (ARCHER).

The Government will not exercise any supervision or control over the task order service providers performing the services herein. Such service providers must be accountable solely to the Contractor who, in turn is responsible to the Government as defined in this Statement of Work (SOW). The Contractor must perform to the standards in this task order.

1.1 Background

Recent advances in the Automated Vehicles (AV) and Connected Automated Vehicles (CAV) have increased the need to understand how drivers will adjust and perform with these new systems. None of the models which are currently being used to define the simulation and modeling (often, microsimulation) of human drivers in the surface transportation industry have considered the differences in how transportation networks will function with these new automated systems. These systems are defined by the Society of Automobile Engineers (SAE) as Level 0 (no automation) through Level 5 (no human driver) vehicle systems. For the past nine years, the HDS has been used to conduct research studies with CAV/AV with level 1 and level 2 studies in Cooperative Adaptive Cruise Control (CACC), Lane Keeping Assistance systems (LKA), and Emergency Braking Assist (EBA) systems. It has been difficult and very time consuming to approximate CAV/AV simulated behaviors in these previous studies as good information on system behavior and how to accurately generate such behavior has been (and will continue to be) unavailable. Much of this information is considered OEM intellectual property or IP. The proprietary nature of the existing algorithms generates large hurdles in how to accurately simulate CAV/AV behaviors as is required for meaningful research. It is often impractical and expensive to reverse engineer existing systems. Inaccurate and flawed simulated behavior can lead to false data and incorrect conclusions.

To improve the capability of this research and increase the calibrated simulation fidelity used to represent the CAV and AV behavior, the ARCHER software / hardware system needs to be expanded to include new and emerging standard models for AV and CAV systems. Testing Connected Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I), collectively V2X, applications will also require the simulation of the inter-vehicle and inter-infrastructure messaging. This needs to be based on standard communication protocols. The Automotive design and manufacturing efforts to generate automated Level 3 and above systems has made strides in defining standards in the embedded hardware and software automotive research area. The embedded and self-driving research currently being conducted worldwide are not found to overlap with many traditional automotive safety / human factors driving research areas, as they represent more engineering-based methods and efforts in the automotive industry. The automotive engineering industry is spending orders of magnitude more than the traditional safety research area as the promise of vehicle automation has been driven by a huge amount of investment capital. Thus, the ARCHER - CARMA integration effort that will be performed in this project will be one of the early efforts of HF research which will adapt to use standards and methods originating from the automotive engineering research communities to improve the capability, accuracy, and reusability of its research methods.

Tools contained within the CARMA Ecosystem (i.e. CARMA Platform, Messenger, Streets, and Cloud) are automotive research development platforms specifically intended to be reusable and extensible to allow for the development and testing of new cooperation automation algorithms between (1) just vehicles and (2) vehicles and infrastructure. Integrating these tools into the ARCHER system will enable HF research to consider how humans will interact with real Cooperative Driving Automation (CDA) applications.

1.2 Objective

The overall objective of this research and development effort is to assist with the implementation of the system architecture document that integrates the CARMA Ecosystem with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems, including ARCHER (Advanced Rendering Cluster for Highway Experimental Research). This system architecture and associated documentation is being developed under the FHWA task order called “CDA- HDS Architecture” (STOL 3 IDIQ contract 693JJ321D000010, task order 693JJ322F00192N).

This assistance would include software modification and development of the ARCHER software (and related components), software development of some of the required interfaces, and technical assistance to the contractor working to integrate the CARMA Ecosystem with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems.

The implementation of the architecture for integrating the CARMA tools and the HDS system, would allow the integrated system to provide the capabilities to facilitate the following scenarios:

• Enable the HDS cab vehicle (and its associated hardware and software, including ARCHER) to participate in CDA applications with other vehicles and with infrastructure (this includes applications that would be used under (1) human driving, (2) automated driving while the human subject in the vehicle is merely a passenger, and (3) automated driving where the human subject is allowed to take over control at his discretion).

• Enable the HDS vehicle (which may be equipped with CARMA Platform or CARMA Messenger) to send and receive messages from other vehicles (which may be equipped with CARMA Platform or CARMA Messenger), infrastructure (using CARMA Streets), and the cloud (using CARMA Cloud).

• Enable researchers to study how a human driver reacts to cooperation strategies involving:

o Other entities (e.g. other vehicles and infrastructure), but not him o The HDS vehicle (i.e., the vehicle driven by the human driver) and other entities

• Enable researchers to study how a human passenger reacts to cooperation strategies (including possibly taking over manual control of the vehicle) involving:

o Other entities (e.g. other vehicles and infrastructure), but not him o The HDS vehicle (i.e., the vehicle driven by the human driver) and other entities

• Enable the use of CDA strategies/features previously developed and tested in CARMA both by the HDS vehicle and other surrounding vehicles and/or infrastructure.

• Enable the implementation of future CDA strategies/features into the HDS (both for the HDS vehicle and other surrounding vehicles) that will be developed in the future (including by external CARMA partners).

• Allow for easier collaboration of CAV/AV between studies that rely either on the HDS or CARMA on-road testing.

• Provide opportunities for combining on-road and simulation-based testing scenarios.

• Provide a system where human factors testing can be evaluated through simulation in the HDS.

Potential research questions that may use this integrated CARMA Ecosystem/Highway Driving Simulator (HDS) ecosystem, could include (but are not limited to) the following example user scenarios:

1. Drive a manual vehicle (Level 0) in the HDS and interact with other CDA-enabled entities (vehicles or infrastructure); this can include mixed-fleet interactions. This would include scenarios with just physical interactions (i.e. no cooperation capabilities) and both physical interactions and wireless communication interactions (i.e. HDS vehicle is equipped with CARMA Messenger).

2. Drive a Level 1 to Level 5 connected automated vehicle (i.e. a vehicle equipped with CARMA Platform) in the HDS and interact with Level 0 to Level 5 connected automated vehicles (mixed fleet; i.e., CARMA Messenger and CARMA Platform-equipped vehicles).

3. Drive a CARMA vehicle(s) in the field (i.e. either a public road or a closed test track) and bring in the data from the drive to replay in the HDS.

4. Drive a Level 1 to Level 5 automated vehicle in the HDS and interact with CARMA vehicle(s) in the field (Hardware in the Loop scenario).

5. Human Factors testing of simulated concepts can be driven in the HDS, before testing in the field with vehicles and infrastructure equipped with CARMA software.

1.3 Detailed Requirement

The Contractor shall provide all personnel, transportation, supervision, and non-personal services necessary to perform the following tasks:

Task 1: Project Management Task 2: Software Development and Technical Support

The Contractor shall, under the coordination of the TOCOR (when needed), engage with other related USDOT-sponsored efforts during the conduct of this task order (including the STOL and the CARMA/CDA Program), so that software development and integration efforts can be efficiently executed. The Contractor shall coordinate and collaborate with stakeholders that have experience with the CARMA Ecosystem systems. In addition, technical expertise, and experiences and lessons learned can be shared for mutual benefit.

Task 1 - Project Management

The purpose of this task is for the Contractor to provide project management support to the TOCOR for all tasks described in this scope of work. The Contractor shall provide project management that ensures all deliverables mentioned above are submitted as requested, and the project conforms to the budget and scope of the SOW.

Within three weeks of award, the Contractor shall attend a project kick-off meeting/conference call with and FHWA to provide a presentation on the following topics,

1. staffing and project management,

2. proposed time line and level of effort for the team, and

3. approach for providing the information specified in this SOW.

The Contractor shall provide project updates to the COR upon request.

In-person meetings and/or teleconferences shall be coordinated with project stakeholders on a bi-weekly basis or as needed/requested to ensure effective communication of needs, findings, etc., with the Task Order Contracting Officer’s Representative (TOCOR).

Deliverables:

• Kick-off meeting minutes

• Monthly progress reports

Task 2: Software Development and Technical Support

The purpose of this task is for the Contractor to provide software development and technical support to the other contractor that is integrating the CARMA Ecosystem with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems in the following ways (but not limited to):

- Provide software development support for implementing the software architecture document, that integrates various components of the CARMA Ecosystem to work with the Highway Driving Simulator (HDS) and its software / hardware system, ARCHER (e.g., ARCHER 1 and ARCHER 2). This would include the development of the associated documentation, as needed.

- Provide software development support for developing the interfaces to connect

ARCHER to the CARMA Ecosystem.

- Assist with the development of the interim report of the software design and integration of the CARMA Ecosystem with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems.

- Assist with the demonstration of the integrated working system: including the CARMA Ecosystem working with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems

- Contribute to the final report documenting the integration of the CARMA Ecosystem working with the Highway Driving Simulator (HDS) ecosystem / software / hardware systems, including the associated system documentation

- Provide other information and technical support as required to help support the integration of the CARMA Ecosystem and ARCHER.

- Attend meetings and technical interchange discussions as needed

- Answer emails, phone calls, as needed

- Answer IM requests as needed within project scope

- Provide information, such as data that could be used for scenario definitions, locations, sensors, etc., used to define testing scenarios.

- Provide other information as required by the TOCOR (or designee) to help with the software integration mentioned above.

Deliverables:

• Interim report of the software design and integration

• Demonstration of the integrated working system

• Final report documenting the integration

2.0 Period of Performance

The period of performance shall be 42 months from the date of task order award.

3.0 General

3.1 Hours of Operation

Working hours shall generally be from 8:00 a.m. to 4:30 p.m., including lunch, Monday through Friday, exclusive of legal holidays, unless otherwise requested by the TOCOR. Work hours for Contractor personnel shall not exceed 40 hours per week unless authorized by the COR and approved by the Contracting Officer. If vacation time of an employee is expected to exceed 10 consecutive working days or sick leave 5 consecutive working days, a replacement shall be provided. Overtime is not authorized unless specifically negotiated and rates incorporated in the schedule. The Contracting Officer must authorize overtime. To compensate for any weekend hours worked, time off during the normal weekdays can be granted.

3.2 Place of Performance

The Contractor shall generally perform all activities under this Task Order on-site at TFHRC in McLean, Virginia, unless otherwise authorized in writing by the CO or TOCOR.

3.3 Physical Security

The Contractor shall be responsible for safeguarding all government equipment, information and property provided for Contractor use. At the close of each work period, government facilities, equipment, and materials shall be secured.

3.4 Special Qualifications

Due to highly specialized technical nature of the work performed under this task order, the Contractor is required to provide staff that have significant experience in the areas of driving simulators, software simulation research focused on human factors research, as well as experience with the Highway Driving Simulator and its software / hardware system, Advanced Rendering Cluster for Highway Experimental Research (ARCHER), or other similar driving similation systems.

3.5 Periodic Progress Meetings

The Contractor agrees to attend progress meetings. The Contracting Officer or Task Order Contracting Officer’s Representative (TOCOR), and other Government personnel, as appropriate, may meet periodically with the Contractor to review the Contractor's performance.

At these meetings, the CO will apprise the Contractor of how the government views the Contractor's performance and the Contractor will apprise the Government of problems, if any, being experienced. Appropriate action shall be taken to resolve outstanding issues. These meetings shall be at no additional cost to the government.

3.8 Contractor Travel

Contractor travel (beyond local travel) is not anticipated as a result of this task order.

3.9 Materials

N/A

3.10 Organizational Conflict of Interest

Contractor and subcontract personnel performing work under this award may receive, have access to, or participate in the development of proprietary or source selection information (e.g., cost or pricing information, budget information or analyses, specifications or work statements, etc.), or perform evaluation services which may create a current or subsequent Organizational Conflict of Interests (OCI) as defined in FAR Subpart 9.5. The Contractor shall notify the CO immediately whenever he/she becomes aware that such access or participation may result in any actual or potential OCI, and may merit the submittal of a plan to the CO to avoid or mitigate any such OCI. This mitigation plan would be determined to be acceptable solely at the discretion of the CO, and in the event the CO unilaterally determines that any such OCI cannot be satisfactorily avoided or mitigated, the Contracting Officer may affect other remedies as he or she deems necessary, including prohibiting the Contractor from participation in subsequent contracted requirements which may be affected by the OCI.

3.11 Phase In /Phase out Period

N/A

4.0 Government Furnished Equipment and Services

N/A

4.1 Services

N/A

4.2 Facilities

N/A

4.3 Materials

N/A

5.0 Applicable Publications (Current Editions)

N/A

5.1 Applicable Clauses

52.217-8 Option to Extend Services The Government may require continued performance of any services within the limits and at the rates specified in the contract. These rates may be adjusted only as a result of revisions to prevailing labor rates provided by the Secretary of Labor. The option provision may be exercised more than once, but the total extension of performance hereunder shall not exceed 6 months. The Contracting Officer may exercise the option by written notice to the Contractor within the task order period.

FAR 52.232-22, Limitation on Funds (APR 1984)

(a) Of the total contract price in, only the funding stated in the amount column associated with each contract line item on the contract award document or subsequent modifications is now available for payment and obligated under this contract. It is anticipated that from time to time, additional funds will be obligated under the contract until the total price of the contract is obligated.

(b) The Government is not obligated to pay or reimburse the contractor more than the amount obligated to the contract. The Contractor agrees to perform the contract up to the point at which the total amount paid and payable by the Government (including amounts payable for subcontracts) approximates but does not exceed the total amount obligated.

(c) (1) If the contractor considers the funds obligated under this contract to be insufficient to cover the work to be performed, the contractor shall notify the Contracting Officer in writing and indicate the date on which it expects expended funds to approximate 75 percent of the total amount obligated. The notice shall state the estimated amount of additional funds required to continue performance.

(2) If, after notification is provided pursuant to paragraph (c)(1) of this clause, additional funds are not obligated, the contractor shall not be obligated to continue performance under this contract (including actions under the termination clause of this contract) beyond the funds obligated for contract performance.

(d) When additional funds are obligated for continued performance of this contract, the contract shall be modified to increase the funds and to indicate the period of performance for which those funds are applicable.

1252.237-73 KEY PERSONNEL (APR 2005)

(a) The personnel as specified below are considered essential to the work being performed under this contract and may, with the consent of the contracting parties, be changed from time to time during the course of the contract by adding or deleting personnel, as appropriate.

(b) Before removing, replacing, or diverting any of the specified individuals, the Contractor shall notify the contracting officer, in writing, before the change becomes effective. The Contractor shall submit information to support the proposed action to enable the contracting officer to evaluate the potential impact of the change on the contract. The Contractor shall not remove or replace personnel under this contract until the Contracting Officer approves the change.

The Key Personnel under this Contract are:

Key Personnel Position *To be identified in proposal

6.0 Attachment/Exhibit List

6.1 Exhibit 1

Deliverables Schedule

6.2 Exhibit 2

Schedule of Services (To be filled in at award)

TECHNICAL EXHIBIT 1

DELIVERABLES SCHEDULE

documentation that is required as a deliverable to include the frequency, # of copies, medium/format and who/where it is to be submitted. A deliverable is anything that can be physically delivered but may include non-physical things such as meeting minutes.

Unless stated elsewhere, the TOCOR will have 10 calendar days to review draft deliverables and make comments. The Contractor shall have five calendar days to make corrections and return the corrected deliverable to the government. Upon receipt of the final deliverables, the TOCOR will have five days for final review prior to acceptance or providing documented reasons for non-acceptance.

All deliverables shall be determined technically acceptable by the TOCOR prior to acceptance by FHWA and shall be generally in an acceptable condition of completeness, written in plain English, with proper grammar, punctuation, and style.

Deliverable Print Ready

Frequency # of Copies

Medium/Format Submit To

Monthly Progress Reports

No 15th of each month

1 Word TOCOR

Kick-Off Meeting and presentation

No Within 4 weeks after task order award

1 PowerPoint TOCOR

Kick-off meeting notes

No 5 weeks after task order award

1 Word TOCOR

Interim report No 24 months after task order award

1 Word TOCOR

Demonstration of integrated working system

No 34 months after task order award

1 Live demonstration and PowerPoint

TOCOR

Final report of integration of

CARMA

ecosystem working with Highway Driving Simulator (HDS) ecosystem

Yes, for Word document

36 months after task order award

1 Word and software documentation (e.g., Doxygen with supporting annotation and description)

TOCOR

EXHIBIT 2

SCHEDULE OF SERVICES