CER 9.5 ADS SpecCompliance.xlsx
XLSX spreadsheet 53 KB Posted
- Solicitation number
- RFP - 171 - 240000001496
- Issued by
- Ingham County, Lansing City, Michigan
About this file
This document is an Automated Bus Consortium Specification Version 3.0 for Level 4 Automated Transit Buses. The specification is being developed by a consortium of state and local agencies, including Ingham County and the City of Lansing, Michigan. The specification outlines the functional requirements and capabilities for automated transit buses to operate in the jurisdictions' operational design domains, covering roadway environments, maintenance yards, intersections, stops, passenger interaction, safety features, and communications. The specification is organized into three stages of capabilities, with Stage 1 being available by late 2025, Stage 2 by late 2026, and Stage 3 by late 2027.
The document also includes a related state and local contract opportunity, a Request for Solution (RFS) for Level 4 Automated Transit Buses, issued by the jurisdictions listed. The RFS seeks solutions that meet the requirements outlined in the Automated Bus Consortium Specification. Pricing terms, set asides, funding sources, and other details are not provided in the summary.
View the file
Other files
| File | Type | Posted |
|---|---|---|
| Appendix G - Sample ADS Testing Forms.pdf | ||
| Schedule B - Pricing.xlsx | XLSX spreadsheet | |
| Appendix A - APTA Standadrd Bus Specification.pdf | ||
| Appendix H - Example ADS Testing Scenario Diagrams.pdf | ||
| ABC Bus Consortium RFS 240000001496.docx | DOCX document | |
| Appendix E_ | — | |
| Appendix I - Agency ODD Matrix.pdf |
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Text version
Table 1 Automated Bus Consortium Spec Version V3.0_12.19.2023
| Name: | ||||||||||
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| Please indicate when the requirement will be available ("x") | ||||||||||
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | ||||||||
| Section5 2 Functional Requirements | ||||||||||
| 5 | 2 | 1 | Stage 1 | |||||||
| 5 | 2 | 1 | 1 | Operational Design Domain (ODD) | ||||||
| 5 | 2 | 1 | 1 | 1 | Roadway Environment | |||||
| 5 | 2 | 1 | 1 | 1 | 1 | The ADS shall operate on streets (local roads, arterials), freeways (controlled access, Interstate), and highways (two-lane or multilane highways that have signal controlled intersections) as described by the Highway Capacity Manual (HCM) as specified by the ODD. | ||||
| 5 | 2 | 1 | 1 | 1 | 2 | The ADS shall operate at speeds posted on the roadways in which it operates. | ||||
| 5 | 2 | 1 | 1 | 1 | 3 | The ADS shall stop in front of the location of pedestrian crosswalks as indicated by pavement markings per |
section 3B.18 in the MUTCD when pedestrians are present.
| 5 | 2 | 1 | 1 | 2 | Maintenance Yard Environment | |
| 5 | 2 | 1 | 1 | 2 | 1 | The ADS shall self-park in a designated location. |
| 5 | 2 | 1 | 1 | 2 | 2 | The ADS shall travel within the yard to specified destinations. |
| 5 | 2 | 1 | 1 | 2 | 3 | The ADS shall reduce its target maximum speed to match the speed limit within the yard. |
| 5 | 2 | 1 | 1 | 3 | Environmental Conditions | |
| 5 | 2 | 1 | 1 | 3 | 1 | The ADS shall only operate when ambient temperature is within expected ranges of its ODD. |
| 5 | 2 | 1 | 1 | 3 | 2 | The ADS shall detect when environmental conditions have exceeded the parameters of its ODD. |
| 5 | 2 | 1 | 1 | 3 | 3 | The ADS shall decrease its target speed based on the degradation of environmental and surface conditions that affect visibility and operations, such that the ADS-DV is able to maintain safe operation at all times within the parameters of the ODD. (Examples: visibility of less than 0.25 mile, or wet and/or icing pavement conditions.) |
| 5 | 2 | 1 | 1 | 3 | 4 | The ADS shall operate in varying lighting conditions, such as at dawn, full daylight, dusk, and night. |
| 5 | 2 | 1 | 1 | 3 | 5 | The ADS shall determine its minimum and maximum effective sensor horizon. |
| 5 | 2 | 1 | 1 | 3 | 6 | The ADS shall enter a degraded mode of operation if the effective sensor horizon falls below acceptable |
performance thresholds.
| 5 | 2 | 1 | 1 | 4 | DDT Behaviors (Maneuvers) Expected Within the ODD | |
| 5 | 2 | 1 | 2 | 4 | 1 | The ADS shall maneuver around road debris. |
| 5 | 2 | 1 | 2 | 4 | 2 | The ADS shall perform all maneuvers required for normal operation within the ODD as described in section |
2.1.1.
| 5 | 2 | 1 | 1 | 5 | Route Acquisition, Execution, and Termination | |
| 5 | 2 | 1 | 1 | 5 | 1 | The ADS shall acquire service routes and store them on-board. |
| 5 | 2 | 1 | 1 | 5 | 2 | The entirety of the route shall be contained in the "Route" information, acquired by the ADS as described in |
2.1.1.5.1.
5 2 1 1 5 3 The ADS shall keep the ADS-DV in its lane of travel without requiring the attention or intervention from an authorized user or operator, when the ADS-DV is under automated control.
5 2 1 1 5 4 While navigating a path on a roadway, the ADS shall center the bus within its lane of travel except when changing lanes or where a deviation is needed to avoid objects.
5 2 1 1 5 5 The ADS shall interpret the route to identify a start point and intermediate points that may require specific action, such as bus stops, and locations related to opportunity charging, if applicable.
| 5 | 2 | 1 | 1 | 5 | 6 | The ADS shall navigate the stored route(s), based on the roadway environment and speed limit, as per 2.1.1.1. | ||||
| 5 | 2 | 1 | 1 | 5 | 7 | The timetable per intermediate stop point may be included in the route metadata. | ||||
| 5 | 2 | 1 | 1 | 5 | 8 | The route ADS shall calculate an estimated time of arrival (ETA) for each intermediary stop point. | ||||
| 5 | 2 | 1 | 1 | 5 | 9 | The ADS may maintain an ongoing calculation for on-time-performance (OTP). | ||||
| 5 | 2 | 1 | 1 | 5 | 10 | The ADS shall merge into traffic on roadways with speed limits up to 45mph as required by the ODD. | ||||
| 5 | 2 | 1 | 1 | 5 | 11 | The ADS shall comply with local laws, regulations, and ordinances governing the movements of road vehicles. | ||||
| 5 | 2 | 1 | 1 | 6 | Railroad Crossings | |||||
| 5 | 2 | 1 | 1 | 6 | 1 | The ADS shall stop at all railroad crossings unless exempt by law. | ||||
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | ||||||||
| 5 | 2 | 1 | 1 | 6 | 2 | If the ADS is required by law to stop at railroad crossings, the ADS shall remain stopped at a railroad crossing until: The railroad crossing barrier (if present) has been fully lifted; onboard sensors do not detect approaching trains from either direction; and the time elapsed since stopping has exceeded 3 seconds. | ||||
| 5 | 2 | 1 | 1 | 7 | Intersection Detection and Navigation | |||||
| 5 | 2 | 1 | 1 | 7 | 1 | The ADS shall detect a traffic intersection that is controlled using traffic signals. | ||||
| 5 | 2 | 1 | 1 | 7 | 2 | The ADS shall detect the phase of the traffic signal that is relevant to its current lane of travel and respond |
appropriately.
5 2 1 1 7 3 The ADS shall recognize permitted right turns and perform that maneuver at a signalized intersection as required by the route.
| 5 | 2 | 1 | 1 | 7 | 4 | The ADS shall perform a legal protected left turn at a signalized intersection as required by the route. |
| 5 | 2 | 1 | 1 | 7 | 5 | The ADS shall detect a traffic intersection, controlled using a 2-way Stop sign, and respond appropriately based |
on its lane of approach, and existing objects including vehicles, pedestrians, and bicyclists.
5 2 1 1 7 6 The ADS shall perform a legal right turn at a traffic intersection controlled using a 2-way Stop sign, relevant to its lane of approach.
5 2 1 1 7 7 The ADS shall perform a legal left turn at a traffic intersection controlled using a 2-way Stop sign, relevant to its lane of approach.
5 2 1 1 7 8 The ADS shall detect a traffic intersection, controlled using 4-way Stop sign, and respond appropriately based on its lane of approach, and existing objects including vehicles, pedestrians, and bicyclists.
5 2 1 1 7 9 The ADS shall identify and track the order of precedence, based on vehicle approach and time at intersection for vehicles at the 4-way stop intersection.
5 2 1 1 7 10 The ADS shall navigate the 4-way stop intersection according to the order of precedence, its lane of approach, and the presence of objects such as pedestrians and bicyclists.
5 2 1 1 7 11 The ADS shall have contingency behaviors available if other vehicles do not follow the order of precedence determined by the ADS.
| 5 | 2 | 1 | 1 | 8 | Intermediate Stop Point Interaction | |
| 5 | 2 | 1 | 1 | 8 | 1 | The ADS shall stop at designated points, or zones, on its route for the purpose of allowing passengers to board |
or exit, or in the case of an emergency.
| 5 | 2 | 1 | 1 | 8 | 2 | The ADS shall align the bus at the bus stop to provide safe boarding and exiting for passengers. |
| 5 | 2 | 1 | 1 | 8 | 3 | The ADS shall initiate opportunity charging at designated stops, if available, when the propulsion system is |
battery electric and opportunity charging is required.
| 5 | 2 | 1 | 1 | 9 | Passenger Interaction | |
| 5 | 2 | 1 | 1 | 9 | 1 | The ADS shall open its doors to allow passengers to enter or exit at designated stops along its designated |
route.
5 2 1 1 9 2 The bus shall contain a visual indicator easily visible to passengers inside and outside the bus for when the bus is in a control state that prevents it from moving (e.g. parked, or loading/unloading passengers).
| 5 | 2 | 1 | 1 | 9 | 3 | The ADS shall accept as input a passenger-initiated request to stop at the next available designated stop point. |
| 5 | 2 | 1 | 1 | 9 | 4 | The ADS shall plan a path from its position at which a stop is requested from a passenger to the next |
designated stopping point.
| 5 | 2 | 1 | 1 | 9 | 5 | The ADS shall enter into an MRC due to a passenger-initiated emergency alarm. |
| 5 | 2 | 1 | 1 | 9 | 6 | The ADS may keep a log of the number of passengers that enter or exit through any doorway and associate |
this count with specific stop points.
| 5 | 2 | 1 | 1 | 9 | 7 | The ADS shall wirelessly transmit its current passenger count, as well as the log of passenger counts, at regular intervals, upon specific conditions or thresholds being met, or upon request from a central operations center. |
| 5 | 2 | 1 | 1 | 10 | ADA Compliance | |
| 5 | 2 | 1 | 2 | 10 | 1 | The ADS shall not interfere with any vehicle sub-system in a way that would cause the bus to be non-compliant with ADA regulations for accommodating passengers with disabilities (see 49 CFR Part 38 - AMERICANS WITH DISABILITIES ACT (ADA) ACCESSIBILITY SPECIFICATIONS FOR TRANSPORTATION VEHICLES Subpart B - Buses, |
Vans and Systems).
| 5 | 2 | 1 | 1 | 11 | Operational Safety | |
| 5 | 2 | 1 | 1 | 11 | 1 | The ADS shall operate within the parameters of the ODD as per the routes defined in the RFP. |
| 5 | 2 | 1 | 1 | 11 | 2 | The ADS shall detect operational parameters that fall outside of the defined ODD. |
| 5 | 2 | 1 | 1 | 11 | 3 | No single component or sub-system failure shall result in uncontrolled vehicle motion. |
| 5 | 2 | 1 | 1 | 11 | 4 | Invariants for all drive-by-wire sub-systems and components shall be implemented to prevent these sub- |
systems and components from causing a crash or exceeding jerk thresholds.
5 2 1 1 11 5 During normal operation, the ADS shall limit longitudinal and lateral changes in acceleration and deceleration (jerk) to maintain passenger comfort. Note: Some studies suggest this value is +/-0.9m/s^3.
5 2 1 1 11 6 The ADS-DV shall contain mechanisms to allow an authorized user to take manual control of the vehicle (user interrupt).
5 2 1 1 11 7 The transition time from automated control to manual control that is triggered through a user interrupt action shall not exceed 500ms.
5 2 1 1 11 8 The ADS-DV shall contain physical mechanisms to prevent unauthorized users from interfacing with the vehicle controls.
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | ||||||||
| 5 | 2 | 1 | 1 | 11 | 9 | The ADS-DV shall provide a mechanism for an authorized user to restore automated control to the ADS. | ||||
| 5 | 2 | 1 | 1 | 11 | 10 | The ADS shall perform OEDR (Object Event Detection and Response) while the bus is under manual control. | ||||
| 5 | 2 | 1 | 1 | 11 | 11 | The ADS shall provide a visual indicator to an operator that the ADS is ready to accept control. | ||||
| 5 | 2 | 1 | 1 | 11 | 12 | The transition from manual control to automated control, if the ADS is ready to assume control, shall not |
exceed 500ms.
| 5 | 2 | 1 | 1 | 11 | 13 | The ADS shall not allow vehicle movement when doorways are open. |
| 5 | 2 | 1 | 1 | 11 | 14 | The ADS shall contain a mechanism to enable an authorized user (present or remote) to power down all |
electric systems.
| 5 | 2 | 1 | 1 | 11 | 15 | The ADS shall be aware of vehicle loading state, (current total mass) and operate with appropriate modifications to following and stopping distances, traffic opportunity decisions, and velocity of maneuvers. |
| 5 | 2 | 1 | 1 | 11 | 16 | The ADS shall detect that an emergency stop has been requested by a passenger. |
| 5 | 2 | 1 | 1 | 11 | 17 | If one or more Active Safety Systems (see SAE J3063) are installed on the bus, these systems shall not interfere |
with the operation of the ADS.
5 2 1 1 11 18 If one or more Active Safety Systems (see SAE J3063) are installed on the bus, these systems shall only send control signals to vehicle control actuators while the bus is in a manual mode of operation.
| 5 | 2 | 1 | 1 | 12 | Performance Monitoring and Fault Detection | |
| 5 | 2 | 1 | 1 | 12 | 1 | The ADS shall monitor the performance of all critical subsystems, sensors, network devices, control interfaces, |
and propulsion systems.
5 2 1 1 12 2 The ADS shall monitor the state of battery charge if the propulsion system is battery electric, or the level of fuel if the propulsion system is internal combustion.
5 2 1 1 12 3 The ADS shall detect when the performance of a critical subsystem, sensor, network device, control interface, or propulsion system has exceeded an acceptable performance threshold (fault).
| 5 | 2 | 1 | 1 | 12 | 4 | The ADS shall log all events where a performance threshold has been exceeded. |
| 5 | 2 | 1 | 1 | 12 | 5 | The ADS shall provide a visual and an auditory signal that a fault has been detected. |
| 5 | 2 | 1 | 1 | 12 | 6 | The ADS shall execute the appropriate DDT fallback task based on the fault that was detected, and if necessary, |
achieve an MRC (as described in 1.8).
| 5 | 2 | 1 | 1 | 12 | 7 | The ADS shall engage the hazard lights while operating in an MRC. |
| 5 | 2 | 1 | 1 | 12 | 8 | The ADS shall record event data according to the series of documents under SAE J1698_2019 Event Data |
Recorder.
5 2 1 1 12 9 The ADS shall provide an applications programming interface (API) that is accessible from an onboard connection by an authorized user.
5 2 1 1 12 10 The ADS shall provide an applications programming interface (API) that is accessible from a remote connection by an authorized user.
5 2 1 1 12 11 Accessing the ADS API shall not interfere with the DDT, DDT-FB, or MRC maneuvers, or any aspect of normal operation.
| 5 | 2 | 1 | 1 | 13 | DDT Fallback to an MRC (Fail-safe) | |
| 5 | 2 | 1 | 1 | 13 | 1 | The ADS shall perform a DDT Fallback maneuver and enter into an MRC in cases where neither safe continuation of the automated driving task nor hand-over of the control to an authorized user are possible. |
| 5 | 2 | 1 | 1 | 13 | 2 | If the vehicle has a manual mode it shall be possible for an authorized user at any time to override the MRC |
and transfer control from the ADS to the authorized user.
| 5 | 2 | 1 | 1 | 13 | 3 | The MRC shall be chosen such that the risk for passengers and other road users is minimized. |
| 5 | 2 | 1 | 1 | 13 | 4 | The ADS shall activate hazard lights not later than 500ms after the start of the DDT Fallback maneuver and shall remain active until the ADS has exited the MRC, unless governing law or regulation specifies otherwise. |
| 5 | 2 | 1 | 1 | 14 | Perception Sub-system | |
| 5 | 2 | 1 | 1 | 14 | 1 | The ADS shall detect objects within its sensors’ fields of view. |
| 5 | 2 | 1 | 1 | 14 | 2 | The ADS shall avoid collisions with objects contained within its sensors’ fields of view. |
| 5 | 2 | 1 | 1 | 15 | Object and Event Detection and Recognition (OEDR) | |
| 5 | 2 | 1 | 1 | 15 | 1 | The ADS shall positively detect the relative position, trajectory, and speed of any object within the sensors’ |
fields of view.
| 5 | 2 | 1 | 1 | 15 | 2 | The ADS shall filter raw sensor data to minimize the false detection of objects (false-positives). |
| 5 | 2 | 1 | 1 | 15 | 3 | The ADS shall cross-check sensor data in a way that avoids real objects to be ignored (false-negatives). |
| 5 | 2 | 1 | 1 | 15 | 4 | The ADS shall detect obstacles in the intended path of travel at a minimum up to the braking distance of the |
vehicle.
| 5 | 2 | 1 | 1 | 16 | Communications | |
| 5 | 2 | 1 | 1 | 16 | 1 | The ADS shall communicate with authorized Wi-Fi networks secured with password protection and bi- |
directional encryption.
| 5 | 2 | 1 | 1 | 16 | 2 | The ADS shall communicate over authorized cellular networks. |
| 5 | 2 | 1 | 1 | 16 | 3 | The ADS shall broadcast at 10Hz a Basic Safety Message (BSM) as defined by SAE J2735_201603. |
| 5 | 2 | 1 | 1 | 16 | 4 | The ADS shall receive and parse the BSM, Signal Phase and Timing (SPaT), and Geometric intersection |
description (GID), or MAP, messages as defined by SAE J2735_201603.
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | ||||||||
| 5 | 2 | 1 | 1 | 16 | 5 | The ADS may transmit its estimated time of arrival (ETA) for all remaining stops on its route. | ||||
| 5 | 2 | 1 | 1 | 16 | 6 | The ADS may transmit its on-time performance (OTP) at periodic time intervals, based on an event, or upon |
request from an authorized user.
| 5 | 2 | 1 | 1 | 17 | Security | ||
| 5 | 2 | 1 | 1 | 17 | 1 | Physical Security | |
| 5 | 2 | 1 | 1 | 17 | 1 | 1 | The ADS shall prevent unauthorized access to the bus vehicle |
| 5 | 2 | 1 | 1 | 17 | 1 | 2 | The ADS shall prevent unauthorized access to sensor systems, |
| 5 | 2 | 1 | 1 | 17 | 1 | 3 | The ADS shall prevent unauthorized access to computer systems, |
| 5 | 2 | 1 | 1 | 17 | 1 | 4 | The ADS shall prevent unauthorized access to electrical systems |
| 5 | 2 | 1 | 1 | 17 | 1 | 5 | The ADS shall prevent unauthorized access to vehicle control systems. |
| 5 | 2 | 1 | 1 | 17 | 1 | 6 | The ADS shall prevent unauthorized access to data ports. |
| 5 | 2 | 1 | 1 | 17 | 1 | 7 | The ADS shall log all detected access attempts to restricted areas of the ADS. |
| 5 | 2 | 1 | 1 | 17 | 1 | 8 | The ADS shall notify security personnel when unauthorized access to restricted areas are detected |
| 5 | 2 | 1 | 1 | 17 | 1 | 9 | ADS sensor and computer components shall conform to automobile component standards for mechanical |
vibration and shock.
| 5 | 2 | 1 | 1 | 17 | 1 | 10 | All externally-mounted components shall be IP67 rated or higher. |
| 5 | 2 | 1 | 1 | 18 | Electronic (Cyber) Security | ||
| 5 | 2 | 1 | 1 | 18 | 1 | The ADS shall prevent unauthorized electronic access to vehicle subsystems. | |
| 5 | 2 | 1 | 1 | 18 | 2 | Public key authentication shall be the minimum standard to allow electronic access to the vehicle subsystems. | |
| 5 | 2 | 1 | 1 | 18 | 3 | The ADS shall detect attempts to access subsystems of the ADS. | |
| 5 | 2 | 1 | 1 | 18 | 4 | The ADS shall log any unauthorized attempts to access subsystems, and appropriate personnel notified. | |
| 5 | 2 | 1 | 1 | 18 | 5 | The ADS shall be protected against man-in-the-middle attacks with authentication and bidirectional encryption. | |
| 5 | 2 | 1 | 1 | 19 | Over-the-air (OTA) Software Updates | ||
| 5 | 2 | 1 | 1 | 19 | 1 | ADS OTA updates shall be verified safe and effective both by the entity issuing the update, and by the agency |
tasked with deploying it, prior to deployment into service vehicles.
| 5 | 2 | 1 | 1 | 19 | 2 | ADS OTA updates shall be executed only by authorized personnel. |
| 5 | 2 | 1 | 1 | 19 | 3 | The ADS shall roll back a failed update to a previous known-good state. |
| 5 | 2 | 1 | 1 | 19 | 4 | ADS OTA updates shall be classified by the issuing entity to convey criticality (e.g. Low, Moderate, Important, or |
Critical).
5 2 1 1 19 5 The ADS shall only execute OTA updates that improve performance of subsystems, enhance existing features, or install new features that are compatible with the hardware configuration of the bus, or as otherwise determined by the responsible agency.
| 5 | 2 | 1 | 1 | 20 | Cooperative Driving Automation | |||||
| 5 | 2 | 1 | 1 | 20 | 1 | The ADS shall comply with applicable laws and regulations while executing a CDA feature | ||||
| 5 | 2 | 1 | 1 | 21 | Cooperative Vehicle Following (such as Platooning) | |||||
| 5 | 2 | 1 | 1 | 21 | 1 | The ADS may engage in cooperative vehicle following maneuvers using CDA features of classes A and B. | ||||
| 5 | 2 | 2 | Stage 2 (Stage 2 is inclusive of Stage 1 requirements) | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term | |||||||||
| (Beyond 2027) | Observation / Comment | |||||||||
| 5 | 2 | 2 | 1 | Operational Design Domain (ODD) | ||||||
| 5 | 2 | 2 | 1 | 1 | Roadway Environment | |||||
| 5 | 2 | 2 | 1 | 1 | 1 | Normal operation of the ADS shall not require specific modifications to the existing environment. Examples |
include dedicated lanes, and specific signage or lane markings outside of the guidance provided by the Manual on Uniform Traffic Control Devices (MUTCD).
| 5 | 2 | 2 | 2 | DDT Behaviors (Maneuvers) Expected Within the ODD | ||
| 5 | 2 | 2 | 2 | 1 | Route Acquisition, Execution, and Termination | |
| 5 | 2 | 2 | 2 | 1 | 1 | The ADS shall log all events or ODD conditions that cause an OTP variance greater than 5%. |
| 5 | 2 | 2 | 2 | 1 | 2 | The ADS shall accommodate vehicles that need to merge into the bus’s lane of travel if such accommodation |
would not create a safety hazard.
| 5 | 2 | 2 | 3 | Intersection Detection and Navigation | |
| 5 | 2 | 2 | 3 | 1 | The ADS shall detect and navigate a traffic intersection controlled by a flashing yellow ball. |
| 5 | 2 | 2 | 3 | 2 | The ADS shall detect and navigate a traffic intersection controlled by a flashing red ball. |
| 5 | 2 | 2 | 4 | Intermediate Stop Point Interaction | |
| 5 | 2 | 2 | 4 | 1 | The ADS shall navigate within a transit center. |
| 5 | 2 | 2 | 4 | 2 | The ADS shall pull into and out of a designated bay within a transit center. |
| 5 | 2 | 2 | 4 | 3 | The ADS may continue past a stop point if there are no waiting passengers, and no current passengers have |
requested a stop.
5 2 2 4 4 The ADS shall adjust the time spent opportunity charging, if the propulsion system is battery electric, to satisfy constraints related to schedule-performance and passenger-satisfaction target goals.
| 5 | 2 | 2 | 5 | Communications | ||||||
| 5 | 2 | 2 | 5 | 1 | Transit Signal Priority (TSP) | |||||
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | ||||||||
| 5 | 2 | 2 | 5 | 1 | 1 | The ADS may execute a Transit Signal Priority (TSP) application utilizing communications protocols defined by |
the ODD.
| 5 | 2 | 2 | 6 | Security | ||
| 5 | 2 | 2 | 6 | 1 | Electronic (Cyber) Security | |
| 5 | 2 | 2 | 6 | 1 | 1 | Communications utilizing DSRC or Cellular V2X, if any, shall be secured using an approved Security Credential |
Management System (SCMS) provider.
| 5 | 2 | 2 | 7 | Cooperative Driving Automation | ||||||
| 5 | 2 | 2 | 7 | 1 | Cooperative Vehicle Following (such as Platooning) | |||||
| 5 | 2 | 2 | 7 | 1 | 1 | The ADS may engage in cooperative vehicle following maneuvers using CDA features of class C. | ||||
| 5 | 2 | 3 | Stage 3 (Stage 3 is inclusive of Stage 1 and Stage 2) | Optional | Available Now | Stage 1 | ||||
| (By late 2025) | Stage 2 | |||||||||
| (By late 2026) | Stage 3 | |||||||||
| (By late 2027) | Long Term | |||||||||
| (Beyond 2027) | Observation / Comment | |||||||||
| 5 | 2 | 3 | 1 | Operational Design Domain (ODD) | ||||||
| 5 | 2 | 3 | 1 | 1 | Roadway Environment | |||||
| 5 | 2 | 3 | 1 | 1 | 1 | The ADS may detect and classify degraded pavement conditions that have the potential to affect either normal |
operation of the bus, or significantly degrade passenger comfort.
| 5 | 2 | 3 | 1 | 2 | Emergency Vehicle Response | |
| 5 | 2 | 3 | 1 | 2 | 1 | The ADS shall detect and classify emergency vehicles that are within the sensors’ fields of view when these |
vehicles have their emergency lights and/or sirens active.
| 5 | 2 | 3 | 1 | 2 | 2 | The ADS shall distinguish between the emergency lights (color and pattern) of emergency vehicles and other vehicles with advisory lights, such as those used on vehicles engaged in construction or maintenance activities. |
| 5 | 2 | 3 | 1 | 2 | 3 | The ADS shall respond appropriately to an emergency vehicle that is operating with either its emergency lights or siren activated, which may include continuing normal operations, slowing, performing an MRC to bring the bus to a stop out of the lane of travel, or maneuvering slightly, but not completely, out of the lane of travel. |
| 5 | 2 | 3 | 2 | DDT Behaviors (Maneuvers) Expected Within the ODD | ||
| 5 | 2 | 3 | 2 | 1 | Route Acquisition, Execution, and Termination | |
| 5 | 2 | 3 | 2 | 1 | 1 | The ADS may plan a safe return route to the maintenance yard from any point along its stored route. |
| 5 | 2 | 3 | 2 | 1 | 2 | The ADS may navigate a safe return route to a route termination point from any point along its stored route. |
| 5 | 2 | 3 | 2 | 1 | 3 | The ADS supplier may provide a mechanism for end-users to create new, and modify existing, service routes. |
| 5 | 2 | 3 | 2 | 1 | 4 | The ADS shall merge into traffic on roadways with speed limits above 45mph as required by the ODD. |
| 5 | 2 | 3 | 2 | 2 | Intersection Detection and Navigation | |
| 5 | 2 | 3 | 2 | 2 | 1 | The ADS shall perform a legal unprotected left turn at a signalized intersection if required by the route and the |
ODD.
| 5 | 2 | 3 | 2 | 2 | 2 | The ADS shall detect and navigate a traffic intersection controlled by a yield sign. |
| 5 | 2 | 3 | 2 | 2 | 3 | The ADS shall detect and navigate a traffic intersection controlled by a flashing yellow arrow. |
| 5 | 2 | 3 | 2 | 2 | 4 | The ADS shall detect and respond appropriately to oncoming traffic and other road users when making a turn |
at an intersection.
| 5 | 2 | 3 | 2 | 2 | 5 | The ADS shall detect and navigate a round-about intersection based on its lane of approach. |
| 5 | 2 | 3 | 2 | 2 | 6 | The ADS shall detect a signalized intersection that is operating in a fail-safe mode with all-way flashing red |
balls.
| 5 | 2 | 3 | 2 | 2 | 7 | The ADS shall navigate the intersection described in 2.3.2.2.6 as a 4-way stop intersection. |
| 5 | 2 | 3 | 2 | 3 | Passenger Interaction | |
| 5 | 2 | 3 | 2 | 3 | 1 | The ADS shall keep a log of the number of passengers that enter or exit through any doorway and associate |
this count with specific stop points. The count shall also include a classification for wheelchair and bicycle passengers.
| 5 | 2 | 3 | 2 | 4 | ADA Compliance | |
| 5 | 2 | 3 | 2 | 4 | 1 | The ADS may detect and classify passengers in wheelchairs, both external and internal to the bus. |
| 5 | 2 | 3 | 2 | 4 | 2 | The ADS may detect when a wheelchair has been secured inside the bus using the available mechanisms. |
| 5 | 2 | 3 | 2 | 4 | 3 | The ADS shall detect when and where to deploy a ramp, kneel, or both, for passengers in wheelchairs in order |
to board onto and to disembark from the bus.
| 5 | 2 | 3 | 2 | 4 | 4 | The ADS may detect and classify passengers with visual impairments, both external and internal to the bus. | |||||
| 5 | 2 | 3 | 2 | 4 | 5 | The ADS shall detect when a passenger with visual impairments has completely boarded or exited the bus. | |||||
| 5 | 2 | 3 | 2 | 5 | Communications | ||||||
| 5 | 2 | 3 | 2 | 5 | 1 | The trigger threshold values for TSP shall be configurable by an authorized user. | |||||
| 5 | 2 | 3 | 2 | 6 | Security | ||||||
| 5 | 2 | 3 | 2 | 6 | 1 | Physical Security | |||||
| 5 | 2 | 3 | 2 | 6 | 1 | 1 | Upon detection of a successful intrusion, the ADS shall immediately: | ||||
| 5 | 2 | 3 | 2 | 6 | 1 | 2 | Perform a DDT-FB and enter an MRC, | ||||
| ADS Spec Section | Major Section | Stage | Sub-sections | Optional | Available Now | Stage 1 | |||||
| (By late 2025) | Stage 2 | ||||||||||
| (By late 2026) | Stage 3 | ||||||||||
| (By late 2027) | Long Term (Beyond 2027) | Observation / Comment | |||||||||
| 5 | 2 | 3 | 2 | 6 | 1 | 3 | Alert an operations control center, | ||||
| 5 | 2 | 3 | 2 | 6 | 1 | 4 | Alert passengers, and | ||||
| 5 | 2 | 3 | 2 | 6 | 1 | 5 | Prevent further system execution until a system security verification process can be executed. | ||||
| 5 | 2 | 3 | 2 | 7 | Electronic (Cyber) Security | ||||||
| 5 | 2 | 3 | 2 | 7 | 1 | The security systems of the ADS shall determine the severity of a physical or electronic intrusion attempt, and if the intrusion surpasses safety thresholds for safe operation, a DDT-fallback behavior and MRC shall be |
triggered.
| 5 | 2 | 3 | 2 | 8 | Over-the-air (OTA) Software Updates | |
| 5 | 2 | 3 | 2 | 8 | 1 | The ADS may fully execute an authorized OTA automatically, once authorized, without additional operator |
interaction.
5 2 3 2 8 2 OTA updates shall only be permissible when the ADS-DV is in Park and is located in a specific geographic zone approved for OTA updates (such as a maintenance yard).
| 5 | 2 | 3 | 2 | 9 | Cooperative Driving Automation | ||||
| 5 | 2 | 3 | 2 | 9 | 1 | Cooperative Vehicle Following (such as Platooning) | |||
| 5 | 2 | 3 | 2 | 9 | 1 | 1 | The ADS may engage in cooperative vehicle following maneuvers using CDA features of class D. | ||
| 5 | 2 | 3 | 2 | 10 | Active Safety (ADAS) Feature ALTERNATIVE | ||||
| 5 | 2 | 3 | 2 | 10 | 1 | Driver-alert ADAS Feature ALTERNATIVE (may) | |||
| 5 | 2 | 3 | 2 | 10 | 2 | Vehicle-control ADAS Feature ALTERNATIVE (may) | |||
| If % is less than 100%, indicate the challenges the route poses for your ADS. Include specific locations from the route. | |||||||||
| Agency Route Total Roundtrip | |||||||||
| Length (miles) | % By Distance Under Automated Control | ||||||||
| Stage 1 | |||||||||
| (By late 2025) | Stage 2 | ||||||||
| (By late 2026) | Stage 3 | ||||||||
| (By late 2027) | Long Term | ||||||||
| (Beyond 2027) | Stage 1 | ||||||||
| (By late 2025) | Stage 2 | ||||||||
| (By late 2026) | Stage 3 |
(By late 2027)
| DART (TX) | 4.2 |
| Houston Metro (TX) | 29 |
| Huron Transit Corporation (MI) | 161.9 |
| CATA Route 38 (MI) | 6.3 |
| CATA Route 32 (MI) | 5.7 |
| MARTA (GA) | 8.7 |
| NJT Route 356 (NJ) | 10.3 |
| NJT Route 452 (NJ) | 22.8 |
| Sun Tran (AZ) | 24 |
| Trinity Metro (TX) | 30 |
| MetroLINK Moline (IL) | Yard |
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File details come from the government source that posted it. Updated .