1、SEPTEMBER2023Transit Bus Automation Market AssessmentPREPARED BYJoshua Cregger,Kelsey Cooper,Sarah Husain,and Erin McCurryJohn A.Volpe National Transportation Systems CenterFTA Report No.0255COVER PHOTO Courtesy of John A.Volpe National Transportation Systems Center DISCLAIMER This document is disse
2、minated under the sponsorship of the U.S.Department of Transportation in the interest of information exchange.The United States Government assumes no liability for its contents or use thereof.The United States Government does not endorse products or manufacturers.Trade or manufacturers names appear
3、herein solely because they are considered essential to the objective of this report.The opinions and/or recommendations expressed herein do not necessarily reflect those of the U.S.Department of Transportation.SEPTEMBER 2023FTA Report No.0255PREPARED BYJoshua Cregger,Kelsey Cooper,Sarah Husain and E
4、rin McCurryJohn A.Volpe National Transportation Systems Center55 BroadwayCambridge,MA 02142SPONSORED BYFederal Transit AdministrationOffice of Research,Demonstration and InnovationU.S.Department of Transportation 1200 New Jersey Avenue,SE Washington,DC 20590AVAILABLE ONLINEhttps:/www.transit.dot.gov
5、/about/research-innovationTransit Bus Automation Market Assessment Metric Conversion TableSYMBOL WHEN YOU KNOW MULTIPLY BY TO FIND SYMBOL LENGTH in inches 25.4 millimeters mm ft feet 0.305 meters m yd yards 0.914 meters m mi miles 1.61 kilometers km VOLUME fl oz fluid ounces 29.57 milliliters mL gal
6、 gallons 3.785 liters L ft3 cubic feet 0.028 cubic meters m3 yd3 cubic yards 0.765 cubic meters m3 NOTE:volumes greater than 1000 L shall be shown in m3 MASS oz ounces 28.35 grams g lb pounds 0.454 kilograms kg T short tons(2000 lb)0.907 megagrams(or metric ton)Mg(or t)TEMPERATURE(exact degrees)oF F
7、ahrenheit 5(F-32)/9 or(F-32)/1.8 Celsius oC Metric Conversion TableFEDERAL TRANSIT ADMINISTRATION vREPORT DOCUMENTATION PAGEForm ApprovedOMB No.0704-01881.REPORT DATESeptember 20232.REPORT TYPEFinal Report3.DATES COVERED 20222023The public reporting burden for this collection of information is estim
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9、f information,including suggestions for reducing the burden,to Department of Defense,Washington Headquarters Services,Directorate for Information Operations and Reports(0704-0188),1215 Jefferson Davis Highway,Suite 1204,Arlington,VA 22202-4302.Respondents should be aware that notwithstanding any oth
10、er provision of law,no person shall be subject to any penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.4.TITLE AND SUBTITLETransit Bus Automation Market Assessment5a.CONTRACT NUMBER 6.AUTHOR(S)Joshua Cregger(0000-0002-6202-144
11、3),Kelsey Cooper(0000-0001-5488-804X),Sarah Husain(0009-0007-5325-8047),and Erin McCurry(0009-0001-2347-719X)7.PERFORMING ORGANIZATION NAME(S)AND ADDRESSE(ES)John A.Volpe National Transportation Systems Center55 BroadwayCambridge,MA 021428.PERFORMING ORGANIZATION REPORTNUMBERDOT-VNTSC-FTA-23-029.SPO
12、NSORING/MONITORING AGENCY NAME(S)AND ADDRESS(ES)U.S.Department of TransportationFederal Transit AdministrationOffice of Research,Demonstration and Innovation1200 New Jersey Avenue,SE,Washington,DC 2059012.DISTRIBUTION/AVAILABILITY STATEMENT Available from:National Technical Information Service(NTIS)
13、,Springfield,VA 22161;(703)605-6000,Fax(703)605-6900,email ordersntis.gov;Distribution Code TRI-3014.ABSTRACTUnder its Strategic Transit Automation Research(STAR)Plan,the United States Department of Transportation(USDOT)Federal Transit Administration(FTA)has conducted research on conceptual ideas,pr
14、ototypes,and commercially available products related to automated vehicle technologies for transit bus operations.During that time,the development and testing of driving automation systems have received enthusiastic media coverage,and that coverage has included systems that have been applied to tran
15、sit buses.In reading about transit buses equipped with driving automation systems,however,stakeholders may not always have sufficient objective information or clearly understand the difference between conceptual ideas,prototype systems,and available products.To help align expectations with reality a
16、nd assist in transit agency planning,FTA published a Transit Bus Automation Market Assessment report in 2019,and it provided updates to the report in the form of addenda in 2020 and 2021.For this next edition of the Transit Bus Automation Market Assessment,FTA is releasing a standalone report that u
17、pdates the report as a single documentresearch for this edition was conducted throughout 2022,with some additions in early 2023.This report attempts to convey the state of transit bus automation technology in terms of its availability,capabilities,and limitations.It aims to inform FTA,transit agenci
18、es,and other transit industry stakeholders interested in understanding the market.This market assessment considers automation at all levels and a broad definition of transit bus,including a range of passenger capacities and both traditional and novel vehicle designs.15.SUBJECT TERMS Transit,bus,auto
19、mation,market assessment,market research,commercialization,advanced driver assistance systems,automated driving systems,automated shuttlesa.REPORTUnclassifiedb.ABSTRACT Unclassified17.LIMITATION OFABSTRACT Unlimited19a.NAME OF RESPONSIBLE PERSON5b.GRANT NUMBER5c.PROGRAM ELEMENT NUMBERc.THIS PAGE Unc
20、lassified16.SECURITY CLASSIFICATION OF:18.NUMBER OF PAGES 8319b.TELEPHONE NUMBER Standard Form 298(Rev.8/98)Prescribed by ANSI Std.Z39.1813.SUPPLEMENTARY NOTES www.transit.dot.gov/research-innovation/fta-reports-and-publications https:/www.transit.dot.gov/about/research-innovation https:/doi.org/10.
21、21949/1527668 Suggested citation:Transit Bus Automation Market Assessment.Washington,D.C.:United States Department of Transportation,2023.https:/doi.org/10.21949/1527668.10.SPONSOR/MONITORS ACRONYM(S)FTA11.SPONSOR/MONITORS REPORT NUMBER(S)FTA Report No.02555d.PROGRAM NUMBER 5e.TASK NUMBER5f.WORK UNI
22、T NUMBER FEDERAL TRANSIT ADMINISTRATION vi 1 Executive Summary 5 Section 1 Introduction 8 Section 2 Market Overview 25 Section 3 Selected Research and Pilot Projects 64 Section 4 Key Themes 70 Section 5 Conclusions 72 Appendix A Companies Contacted 74 Acronyms and Abbreviations 22 Figure 2-1 Concept
23、 images of Holon shuttles 23 Figure 2-2 Concept image of the ZF shuttle 27 Figure 3-1 New Flyer Xcelsior AV transit bus equipped with an ADS from RRAI 29 Figure 3-2 Lexus RX450h and Toyota Sienna equipped with ADS from May Mobility 30 Figure 3-3 Phoenix Motorcars ZEUS 400 bus to be equipped with an
24、ADS from Perrone Robotics 33 Figure 3-4 Dodge ProMaster bus equipped with an ADS from LILEE 36 Figure 3-5 University of Iowa“ADS for Rural America”bus 38 Figure 3-6 GreenPower AV Star bus equipped with ADS from Perrone Robotics 44 Figure 3-7 Karsan e-Atak bus equipped with ADS from ADASTEC 46 Figure
25、 3-8 Lightning eMotors transit van equipped with ADS from Perrone Robotics 60 Figure 3-9 Transit bus equipped with an ADS from LILEETABLE OF CONTENTSLIST OF FIGURES FEDERAL TRANSIT ADMINISTRATION viiAbstractUnder its Strategic Transit Automation Research(STAR)Plan,the United States Department of Tra
26、nsportation(USDOT)Federal Transit Administration(FTA)has conducted research on conceptual ideas,prototypes,and commercially available products related to automated vehicle technologies for transit bus operations.During that time,the development and testing of driving automation systems have received
27、 enthusiastic media coverage,and that coverage has included systems that have been applied to transit buses.In reading about transit buses equipped with driving automation systems,however,stakeholders may not always have sufficient objective information or clearly understand the difference between c
28、onceptual ideas,prototype systems,and available products.To help align expectations with reality and assist in transit agency planning,FTA published a Transit Bus Automation Market Assessment report in 2019,and it provided updates to the report in the form of addenda in 2020 and 2021.For this next e
29、dition of the Transit Bus Automation Market Assessment,FTA is releasing a standalone report that updates the report as a single documentresearch for this edition was conducted throughout 2022,with some additions in early 2023.This report attempts to convey the state of transit bus automation technol
30、ogy in terms of its availability,capabilities,and limitations.It aims to inform FTA,transit agencies,and other transit industry stakeholders interested in understanding the market.This market assessment considers automation at all levels and a broad definition of transit bus,including a range of pas
31、senger capacities and both traditional and novel vehicle designs.FEDERAL TRANSIT ADMINISTRATION 1Executive SummaryDriving automation systems,including those developed for transit bus applications,have received enthusiastic media coverage,but stakeholders may not have sufficient objective information
32、 or clearly understand the difference between conceptual ideas,prototype systems,and available products for transit service.To help align expectations with reality and assist in transit agency planning,this market assessment report conveys the state of transit bus automation technology in terms of i
33、ts availability,capabilities,and limitations.It aims to inform the Federal Transit Administration(FTA),transit agencies,and other transit industry stakeholders interested in understanding the market.This market assessment report follows an initial Transit Bus Automation Market Assessment report that
34、 FTA first published in 2019 and later updated with addenda in 2020 and 2021.This report is a standalone document that further updates and extends the content.The updated report considers automation at all levels and a broad definition of transit bus,including a range of passenger capacities and bot
35、h traditional and novel vehicle designs.The company and product names included are only for illustrative purposes and do not represent an endorsement.To gather relevant information,research staff conducted a scan of literature and met virtually with industry representatives,including bus manufacture
36、rs,suppliers,and new entrants.These efforts helped researchers learn more about current and future products,research and commercialization activities,and commercialization challenges.Key themes from the report include the following:Development and commercialization of driving automation systems for
37、transit bus applications is still at an early stage.System maturity may not be as advanced as it is sometimes portrayed in media reporting or marketing materials,and systems are likely multiple years away from commercial availability or broad revenue service deployment.Cost and price estimates are l
38、argely unavailable,highly variable,and subject to change.Costs for mature systems may be quite different than those for prototype systems.Timing estimates for commercialization and mass production are largely unavailable and publicly announced targets may or may not be accurate predictors of actual
39、timelines.The limited number of buses sold annually and the difficulty in adapting driving automation systems from one platform to another has slowed the introduction of driving automation systems to transit buses.FEDERAL TRANSIT ADMINISTRATION 2EXECUTIVE SUMMARY Market size is a challenge,as the lo
40、w volume of bus production translates to high per-unit costs for research and development(R&D),testing,and validation though some efforts are looking to overcome this challenge through larger-scale projects or joint procurement activities.Transferability of systems from other vehicle formats(i.e.,he
41、avy-duty trucks and light-duty vehicles)is limited due to differing use cases,vehicle architectures and control systems,and other considerations.In the near term,pilot and demonstration projects are choosing vehicle models for compatibility with transit service needs;in the longer term,the industry
42、is working to evolve and improve vehicle and system designs.Bus architectures are slowly evolving and becoming more conducive to drive-by-wire integration,but many challenges remain,including the lack of commercially available components.Vehicle formats for pilots and demonstrations are shifting to
43、traditional bus formats that meet regulatory requirements,though several companies have also announced work with light-duty vehicles and next-generation shuttles.Factory installed systems are preferred over retrofit systems and Advanced Driver Assistance Systems(ADAS)and Automated Driving Systems(AD
44、S)developers are partnering with bus manufacturers to better integrate their systems into transit buses.Partnerships are common as ADAS and ADS developers and other suppliers seek to apply their systems to vehicles from different bus manufacturers and vice versa.Component technologies that enable au
45、tomation are maturing and there are more commercially available options for many systems on the market.Powertrain technology preferences for buses are shifting toward electrified systems,both for manually driven buses and ADS-equipped prototypes.Sensors(e.g.,camera,infrared,lidar,radar,and ultrasoni
46、c systems)continue to improve in their availability,capability,and affordability.Connectivity technologies can potentially augment ADS in transit buses through enabling applications such as smoother braking or providing redundant signal phase information.While concepts for driving automation system
47、use cases in transit operations have existed for many years,many pilot and demonstration activities are focusing on near-term applications in simplified environments.FEDERAL TRANSIT ADMINISTRATION 3EXECUTIVE SUMMARY Operational design domains(ODDs)in protected and controllable environments are easie
48、r for ADS operations,and such geographically limited areas may align with some transit services and applications.Bus yard automaton systems have received increased interest in recent years and may present a simplified ODD and address specific needs for some(but not all)transit agencies.Automated bus
49、 rapid transit(BRT)applications may also present a simplified ODD and may be an early demonstration opportunity for transit agencies that operate service on dedicated transit lanes.Driver support features in the form of ADAS are beginning to emerge in the market and,though few systems currently have
50、 automated actuation,bus manufacturers are partnering with firms to create new systems that include automated control.Goods movement is an application outside of transit service,but it may be seen as a more practical,near-term use case and lead some companies to prioritize ADS investments for goods
51、movement over transit service applications.Transit agency staff will continue to play an important part in enabling transit service,and new roles will emerge as driving automation systems for transit buses continue to mature.Workforce training and retraining on driving automation systems will be nee
52、ded as technologies continue to evolve and mature,but in the near-term,staff will likely maintain roles similar to those that currently exist.In-vehicle unstaffed operation is a continued area of interest for ADS developers,but it is primarily limited to light-duty vehicles and heavy-duty trucks,and
53、 applications in transit vehicles are limited.Implementing driving automation systems in transit buses is a big investment and funding may be a challenge,especially as fare collection is rare for pilots and transit agencies face resource constraints while trying to meet their core missions.Fare coll
54、ection is still a relatively uncommon feature in transit bus automation pilots,though some services are beginning to incorporate it into operations.Competing priorities and limited resources to meet core transit agency missions may cause some organizations to postpone or cancel driving automation sy
55、stems efforts.Public funding enables industry and transit agency partners to conduct demonstration and pilot programs to test and evaluate ADAS and ADS systems for transit buses.Vehicle automation is a rapidly evolving field with multiple potential paths to commercialization.As a result,new technolo
56、gies may be developed and FEDERAL TRANSIT ADMINISTRATION 4EXECUTIVE SUMMARYcommercialized following the publication of this report;however,it is expected that progress will generally be incremental.As more information becomes available,FTA will continue to monitor developments in this area and seek
57、to share information to keep relevant stakeholders updated.Section 1 FEDERAL TRANSIT ADMINISTRATION 5IntroductionDriving automation systems have generated significant interest in terms of their potentially transformational role in society.Companies are actively and extensively showcasing new concept
58、 vehicles and systems at auto shows,testing prototype Automated Driving Systems(ADS)on public roads,scaling and expanding those tests,and introducing Advanced Driver Assistance Systems(ADAS)on new production vehicles.Automation is being applied to all on-road modes of transportation,including person
59、al vehicles,taxis,commercial trucks,and transit buses.While there has been enthusiastic media coverage regarding these new technologies,stakeholders may not have sufficient objective information to understand the difference between conceptual ideas,prototypes,and available products.PurposeTo support
60、 the development and deployment of driving automation systems in transit buses,the United States Department of Transportation(USDOT)Federal Transit Administration(FTA)developed a five-year Strategic Transit Automation Research(STAR)Plan that outlines the agencys research agenda on automation technol
61、ogies.1 As part of the research outlined in the STAR Plan,this report discusses the state of the industry in terms of which technologies are commercially available and which are in development but may become commercially available in the near future.Some of the challenges impeding development and co
62、mmercialization of ADS and ADAS for transit buses are also discussed.This report is designed to provide a realistic market assessment to inform FTA and public transportation agency decision-makers,who are the primary audiences.The information is intended to help align expectations with the current s
63、tate of industry and assist transit agencies in planning the timing and scope of potential demonstration and pilot activities.ScopeThis report considers transit bus automation systems across all levels of automation(SAE Levels 05).2 Although it focuses on systems with automated 1 For more informatio
64、n on this work and access to the Strategic Transit Automation Research Plan,visit https:/www.transit.dot.gov/research-innovation/strategic-transit-automation-research-plan-report-0116.2 SAE International.(2021).J3016_202104:Taxonomy and Definitions for Terms Related to Driving Automation Systems for
65、 On-Road Motor Vehicles.SAE International Standard https:/www.sae.org/standards/content/j3016_202104/.SAE Level 0 systems include both systems without any automation that provide warnings to drivers(e.g.,collision warning systems)and systems that provide momentary automated control of the vehicle(e.
66、g.,AEB).Systems that provide momentary automated control of the vehicle are considered within the scope for this report,though some systems that do not include automation(e.g.,products from Mobileye and Protran)are also mentioned as potential precursors to automation systems.FEDERAL TRANSIT ADMINIST
67、RATION 6SECTION|1 actuation(e.g.,automated braking,steering,or throttle),it also,to some extent,addresses driver warning systems with limited or no automation.On the lower end of the automation spectrum(SAE Levels 02),ADAS is commonly used to describe a broad range of features,from those that provid
68、e warnings and/or momentary automated intervention(SAE Level 0),such as automatic emergency braking(AEB)or lane keeping assistance,to driver support features(SAE Levels 1 and 2),which include automation of steering(lateral)systems such as lane centering,braking and acceleration/deceleration(longitud
69、inal)systems such as adaptive cruise control(ACC),or both.On the higher end of the automation spectrum,ADS(SAE Levels 35)perform the entire dynamic driving task on a sustained basis and do not require supervision from a safety driver.For Level 3 systems,a safety driver(fallback-ready user)must be pr
70、esent and able to respond to an ADS-issued request to intervene,but for Level 4 and 5 systems,there is no assumption that a safety driver would need to be present.In practice,while ADS systems are under development and testing as prototypes,they include safety drivers regardless of SAE level.For the
71、 purposes of FTAs STAR Plan,“bus”is defined broadly to consider a range of passenger capacities and both traditional and novel vehicle designs.Smaller vehicles can include light-duty passenger vehicles(e.g.,vans)or smaller shuttle buses.Larger vehicles can include 40-foot city transit buses(the comm
72、on type used in larger transit systems)and even longer articulated buses.To provide examples of ADAS,ADS,and buses that are being used in testing and pilot projects,this report references company and product names.These are included only for illustrative purposes and do not represent an endorsement.
73、MethodologyProject staff conducted a scan of literature(e.g.,press releases,company websites,and other publicly available materials)on commercially available technologies and commercialization timelines for prototype technologies relevant to transit bus automation.The findings are documented in this
74、 report and were used to inform an industry outreach effort through phone interviews with representatives from various organizations,including transit bus manufacturers,driving automation system developers,transit service operators,and organizations conducting pilot projects with ADS-equipped buses.
75、Previous editions of the Transit Bus Automation Market Assessment report involved outreach to additional organizations,and information from those conversations is also reflected in this report.Report OrganizationSection 2,“Market Overview,”discusses relevant companies and product types along with th
76、eir current market availability and future outlook.Section FEDERAL TRANSIT ADMINISTRATION 7SECTION|1 3,“Selected Research and Pilot Projects,”provides background on domestic and international efforts to develop and test transit bus automation systems.Section 4,“Key Themes,”presents high-level takeaw
77、ays from the research,while Section 5,“Conclusions,”offers concluding remarks,a summary of the findings,and potential implications for FTA and public transportation decision-makers.FEDERAL TRANSIT ADMINISTRATION 8Section 2Market OverviewThis section discusses the supply side of the market,including
78、bus manufacturers,foundational system suppliers,and ADAS and ADS developers.Existing products are identified and described at a high level.In cases where a company does not have commercialized products but is engaged in relevant activities to develop or test automation systems,those activities are d
79、escribed.Transit Bus MarketBus transit service is provided using many types of vehicles,examples of which are described below:City Transit Buses are typically used for fixed route service with the most common size being 40 feet long,holding approximately 38 seated passengers and 25 standees.Buses th
80、at are 35 and 30 feet long are also somewhat common.Articulated Buses are also used for fixed route transit and they are typically 60 feet long.They have separate front and rear body sections that are connected by a joint mechanism.They can typically hold around 55 seated passengers and 40 standees.
81、Cutaway Buses(also called“body-on-chassis”buses)are shorter(typically around 22 to 25 feet long)and can accommodate 1216 seated passengers.These buses use medium-duty truck chassis with the bodies manufactured separately.Motor Coaches(also called“intercity”or“over the road”buses)are typically used f
82、or fixed route transportation between cities.They have separate luggage compartments and often have restroom facilities.They are typically 40 or 45 feet long and can seat 4555 passengers.The U.S.transit bus market is relatively small with annual sales to transit agencies of approximately 10,000 buse
83、s in recent years,according to the National Transit Database(NTD).3 Approximately 40%of those vehicles are classified as city transit buses,just over 50%are classified as cutaway buses,and the remaining 10%are split roughly evenly between articulated buses and motor coaches.Of the transit buses,appr
84、oximately 75%are 40 feet or longer,3 NTD.(2020).2020 Annual Database Revenue Vehicle Inventory.National Transit Database,Federal Transit Administration,U.S.Department of Transportation.Accessed March 2019.https:/www.transit.dot.gov/ntd/data-product/2020-annual-database-revenue-vehicle-inventory.In a
85、ddition to the buses sold to transit agencies that report in the NTD,transit buses are sold to other organizations(e.g.,cutaway buses used for hotel shuttle service)and those buses are not included in this estimate.These numbers also do not include over-the-road coaches(e.g.,large buses used for int
86、ercity travel or tours).FEDERAL TRANSIT ADMINISTRATION 9SECTION|2 approximately 20%are between 30 and 39 feet,with the remaining buses being shorter than 30 feet.For context on the scale of production compared to other types of motor vehicles,prior to the COVID-19 pandemic,annual U.S.sales of heavy-
87、duty trucks(i.e.,trucks with more than 14,000 pounds gross vehicle weight)were between 400,000 and 500,000 units,4 and annual U.S.sales of light-duty vehicles(e.g.,cars,vans,pickup trucks,and sport utility vehicles)were approximately 17 million units.5 For each bus sold in the United States,there ar
88、e more than 40 heavy-duty trucks sold and approximately 1,700 light-duty vehicles sold.For buses that are 30 feet or longer,Gillig and NFI Group(parent of New Flyer)are the two largest bus manufacturers that sell to transit agencies in the United States.Together,they represent approximately 7580%of
89、all buses 30 feet or longer that were identified in the NTD in recent years.6 Other manufacturers that supply buses to U.S.transit agencies include Forest River Bus(parent of El Dorado,Champion,Goshen,Starcraft,Startrans,and other brands)and Volvo(parent of Nova Bus),which each sell 200300 buses ann
90、ually that are 30 feet or longer,as well as many smaller companies(e.g.,Blue Bird,BYD,Double K,Proterra,and others),which together annually sell around 200 buses that are 30 feet or longer to U.S.transit agencies.Many of the same companies serve the market for cutaways and buses that are shorter tha
91、n 30 feet.Forest River is the largest company serving that portion of the market,providing just over 60%of all cutaways and transit buses less than 30 feet long that were identified in the NTD in recent years.The next largest firm operating in this space is Coach and Equipment Manufacturing Company,
92、which provides just over 20%of the buses in this segment.The other companies building smaller buses have relatively low market shares(i.e.,3%or less).Gillig and New Flyer produce and sell some shorter buses,but together those two companies only account for approximately 5%of sales in this segment.Sc
93、alability of Systems for Transit BusesMarket scale becomes an issue with respect to developing or adapting technologies for transit buses.In general,suppliers are not developing new automated driving systems primarily for transit buses because the potential addressable market is so much smaller than
94、 it is for other vehicles.Instead,suppliers typically focus on developing new technologies for light-duty vehicles first,as the relatively large market means that a successful product may make it 4 U.S.Bureau of Economic Analysis.(2022).Motor Vehicle Retail Sales:Heavy Weight Trucks.FRED,Federal Res
95、erve Bank of St.Louis.Retrieved September 19,2022,from https:/fred.stlouisfed.org/series/HTRUCKSSAAR.5 U.S.Bureau of Economic Analysis.(2022).Light Weight Vehicle Sales:Autos and Light Trucks.FRED,Federal Reserve Bank of St.Louis.Retrieved September 19,2022,from https:/fred.stlouisfed.org/series/ALT
96、SALES.6 NTD 2020,op cit.FEDERAL TRANSIT ADMINISTRATION 10SECTION|2 into tens or hundreds of thousands of vehicles each year,allowing the company to spread its R&D costs among many vehicles.7 After developing the initial technology,a supplier might seek to adapt it for medium-duty and heavy-duty truc
97、ks,which can be challenging as the foundational systems(e.g.,steering,brakes,and powertrain)for those vehicles may differ substantially from those used in light-duty vehicles.Once the system is adapted for heavy-duty commercial trucks,the supplier may then consider working with a transit bus manufac
98、turer to further adapt the system to function in a transit bus.Beyond the cost of adapting a system for buses,additional testing and validation is needed each time the system is modified for a new vehicle type,so adapting existing technology for buses can be costly.Supplier firms are interested in f
99、inding opportunities to implement their technologies,but if the technology requires major changes for a new vehicle platform,it may be difficult to justify the R&D investment for relatively small markets,such as transit buses.Other challenges to employing new technologies in the transit bus market i
100、nclude a lack of technologies applicable to transit bus service,relatively limited interest from transit agency customers,and high levels of customization requested by transit agency customers.The high level of customization in the transit industry results from the unique features requested by trans
101、it agencies when placing bus orders;thus,bus manufacturers adapt bus designs to meet the needs of each transit agency customer rather than producing a single,standardized bus.This lack of standardization may cause issues when integrating an automation system,as placement of components or requirement
102、s for the components themselves may need to change depending on other agency requirements,potentially requiring more testing and validation and adding more costs.Applicability of Existing TechnologiesNot all existing technologies will be applicable to transit service.While some technologies may be c
103、ompatible with the foundational systems of a transit bus,the applications may not be suited to the use cases that a bus encounters.In particular,many of the SAE Level 1 or Level 2 systems currently available for heavy-duty vehicles are intended to operate at high speeds on divided highways,whereas m
104、ost transit buses operate at low speeds on urban roads.Adapting those technologies for use on a transit bus,if possible,may represent a substantial R&D effort,requiring time and resources to implement.7 With a total sales volume of 17 million vehicles sold in the United States each year,even relativ
105、ely low penetration rates of a new technology can translate to many units sold.For example,if a system was applied to half of one percent of all vehicles,it would sell more than 80,000 units for that year.FEDERAL TRANSIT ADMINISTRATION 11SECTION|2 Customer InterestMany industry representatives noted
106、 that they have heard little interest from transit agency customers regarding automation systems for transit vehicles,although a few noted a growing interest in AEB systems to help prevent collisions with other vehicles or pedestrians.The high cost of production combined with limited customer intere
107、st means that suppliers and bus manufacturers are hesitant to proactively design and introduce automation technology for transit buses.Demonstration of transit agency customer demand is needed to justify company investments.Even then,interested transit agencies may not be able to commit to a large n
108、umber of equipped buses or may have a limited ability to pay for automation systems.Technology RoadmapsWhile bus manufacturers may not be installing driving automation systems in their buses yet(at least not outside of small pilot projects to test new technologies),they are talking to ADAS developer
109、s,ADS developers,and other suppliers to assess when relevant automation systems will be available.Most manufacturers are also developing or have developed internal roadmaps for future technology.These roadmaps often do not contain firm dates due to the uncertainty regarding the evolution of the tech
110、nology.Compounding this uncertainty,some systems require the development and implementation of other systems before commercialization and scaling will be feasible;for example,development of an electronically actuated braking system is a prerequisite for a transit bus AEB system.Collaboration and Par
111、tnershipsIndustry coordination is in a relatively nascent stage,although some bus manufacturers are working with suppliers,transit agencies,or researchers at universities or other institutions.Relationships between bus manufacturers,suppliers,and ADAS and ADS developers are critical to testing and d
112、eployment.While companies have been quietly coordinating and collaborating for years,they have recently begun publicly announcing their partnerships.For instance,Robotic Research OpCp,LLC(RRAI),has partnerships with New Flyer and Gillig to develop and test ADAS and ADS for its buses.8 Similarly,othe
113、r bus 8 New Flyer.(2019,May 15).New Flyer announces Robotic Research partnership to revolutionize public transit using automated bus technology Press release.https:/ Gillig.(2022,January 10).GILLIG and RR.AI to Partner on Next Generation Automated Vehicle Technology Press release.https:/ TRANSIT ADM
114、INISTRATION 12SECTION|2 manufacturers such as GreenPower,Phoenix Motorcars,Rampini,and Lightning eMotors have partnered with Perrone Robotics.9 One industry representative noted that fostering relationships with progressive transit agencies could enable more experimentation and progress.Other indust
115、ry representatives suggested that greater manufacturer and supplier involvement in automation system standards through participation in committees could be beneficial for developing automation systems for transit buses,and some companies are beginning to engage in these activities through organizati
116、ons such as the American Public Transportation Association(APTA).Systems and Components MarketWhile some vehicle manufacturers develop certain systems in-house,much system development occurs at supplier firms,which then sell those systems to the manufacturers.These suppliers typically provide the sa
117、me or similar products to multiple vehicle manufacturers,taking advantage of economies of scale and spreading fixed costs(e.g.,R&D or factory tooling)across many units.Many of these suppliers offer systems and components to both light-duty(passenger cars,pickup trucks,sport utility vehicles,and vans
118、)and heavy-duty vehicles(commercial trucks and buses).With respect to automation,most of the research,development,and commercialization activity has focused on light-duty vehicles.Multiple interviewees attributed this focus to the large market size(approximately 17 million units in recent years prio
119、r to COVID-19).At that scale,a supplier may be able to get its new system or component in a fraction of that total and sell tens or hundreds of thousands of units annually.Suppliers can provide a range of different systems,including ADAS,sensors,brake systems,and steering systems.The following subse
120、ctions discuss companies offering these different systems and components.Driver Assistance System FirmsMany firms provide ADAS for vehicles,including Aptiv,Bosch,Continental,Denso,Hella,Hitachi,Magna,Mobileye,Valeo,Veoneer,ZF,and others.ADAS can include driver warnings and alerts,such as lane depart
121、ure warning(LDW),forward collision warning(FCW),and blind spot monitoring(BSM),as well as low-level automation features,such as ACC,AEB,lane keep assistance(LKA),and automated parking assistance.Some of these systems are only compatible 9 GreenPower Motor Company.(2021,November 8).GreenPower Motor C
122、ompany Announces OEM Agreement with Autonomous Vehicle Technology Provider Perrone Robotics.PR Newswire.https:/ Lightning eMotors.(2022,May 9).Lightning eMotors Partners with Perrone Robotics to Offer Fully Autonomous Vehicle Option to Zero-Emission Fleet Customers.Press release.https:/ TRANSIT ADMI
123、NISTRATION 13SECTION|2 with light-duty vehicles,but some companies have adapted their systems for heavy-duty vehicles as well.For instance,ADAS that provide warnings from companies such as Mobileye and Protran have been installed on buses.In addition,some ADS developers may offer options for ADAS mo
124、des of operation for vehicles equipped with their ADS technology.Sensor FirmsThe types of sensors needed to support ADAS and ADS for transit buses may not differ from those used in other vehicles.Depending on the system and approach,a system could use a variety of sensors,potentially including camer
125、a,infrared,lidar,radar,and ultrasonic sensor technologies.A broad range of companies produce sensor units,and some sensors are relatively mature commodities,while others are being developed,improved,and scaled.Although the sensors may be the same,their number and placement will likely vary due to th
126、e different size and shape of the vehicle envelope,use cases addressed(e.g.,lower speeds in more urban environments),and considerations unique to transit bus operations(e.g.,interior sensors may be needed to monitor status,location,and intent of passengers and additional sensors may be needed to mon
127、itor non-driving tasks such as accessibility ramp deployment).There are many companies developing sensorssome develop multiple types of sensors and some also integrate the sensors into commercialized ADAS or into prototype ADS used in testing and pilots.The list below describes how various sensors f
128、ound in ADAS and ADS work and what they are used for,along with examples of suppliers that provide them.Cameras are one of the most common sensors used in ADAS and ADS.Camera systems can distinguish shapes and colors and quickly classify objects based on that information.Cameras work well in rainy c
129、onditions,but they may not work well in low-visibility conditions such as fog,snow,low-light,or glare.Within ADAS,they can enable features such as ACC,AEB,LDW,and LKA.Some systems use multiple cameras positioned in the front,sides,and rear of the vehicle,enabling a“360-degree view”that can be useful
130、 for LKA,lane centering,parking assistance,and BSM.Some firms offering camera systems include Aptiv,Bosch,Continental,FLIR Systems,Magna,Mobileye,and Valeo.Radar units are also commonly used in both ADAS and ADS.These systems emit radio waves that reflect off other objects and return to the sensor.T
131、he information on the time the wave takes to return is used to calculate distances.Radar systems are good at detecting dynamic and stationary objects,but they are not good at object classification.They are relatively unaffected by weather and operate to a good degree in snow,rain,and fog.Within ADAS
132、,the radar unit is the default sensor for AEB,and it can enable FEDERAL TRANSIT ADMINISTRATION 14SECTION|2 features such as ACC,BSM,FCW,and pedestrian detection.Some firms offering radar systems include Aisin Seiki,Analog Devices,Aptiv,Bosch,Continental,Denso,Texas Instruments,Valeo,Veoneer,and ZF.L
133、idar systems are less common in ADAS,but they are included in almost all ADS sensor suites.The system emits laser lights that reflect off other objects and return to the sensor.The information on the time the light takes to return is used to calculate distances.Compared to cameras,lidar performance
134、is less affected by environmental conditions or ambient lighting,though in some cases,conditions such as precipitation,fog,smoke,or dust clouds may degrade performance.Lidar systems are good at high-definition three-dimensional(3D)modeling and can be used for object classification,but unlike cameras
135、,they are unable to detect colors or interpret sign text.Lidar systems require a significant amount of computing power to accurately model the environment compared to other sensor types and they are relatively expensive,though the cost of a lidar unit has been decreasing over the years.Some firms of
136、fering lidar systems include Aeva,AEye,Velodyne,Cepton,Ibeo,Innoviz,Luminar,Ouster,Sense Photonics,and Quanergy.Ultrasonic sensors can be found in both ADAS and ADS sensor suites.The system emits sound that reflects off other objects and returns to the sensor.The information on the time the sound ta
137、kes to return is used to calculate distances.Ultrasonic sensors are relatively inexpensive and they are unaffected by weather or lighting conditions.They work well for detecting peripheral objects(both moving and stationary)within short distances.Ultrasonic sensors have relatively short operating ra
138、nges;therefore,they are often used for object detection at low speeds(e.g.,parking assistance features).Some firms offering ultrasonic sensor systems include Bosch,Continental,Denso,Hella,Panasonic,Texas Instruments,and Valeo.Brake FirmsWhile brake supplier firms have focused on developing products
139、for other vehicle formats rather than producing automated braking systems specifically designed for transit buses,some work has been done to adapt systems originally designed for heavy-duty trucks to apply them to motor coaches and transit buses.As heavy-duty vehicles,transit buses have brake system
140、s that differ from those used in light-duty vehicles.While light-duty passenger vehicles primarily use hydraulic braking systems,transit buses use pneumatic braking systems,so automated braking systems for light-duty vehicles are not directly transferable to buses.Heavy-duty commercial trucks(i.e.,C
141、lass 8 tractor-trailer vehicles)also use pneumatic braking systems,so automated braking systems designed for those vehicles may be more transferable to transit buses.However,some issues may remain such as sudden,harsh braking may create new hazards FEDERAL TRANSIT ADMINISTRATION 15SECTION|2 for tran
142、sit bus applications,particularly for unrestrained passengers and standees.One bus manufacturer noted that while some systems are available in Europe,electronic braking systems are not currently an option for buses in North America.Several suppliers of brake systems for heavy-duty commercial trucks
143、have been developing ADAS systems that include automated braking.While not all of those systems have been adapted for transit buses,some have been and they could be a starting point for transit bus AEB or other more advanced features that include automated braking functionality.Firms with commercial
144、ized automated braking systems for commercial trucks include Bendix(Wingman),Detroit Diesel(Detroit Assurance),and ZF(OnGuard):Bendix(a Knorr-Bremse subsidiary)purchased the VORAD collisionwarning system from Eaton in 2009 and has since developed multiplesystems of its own,including Wingman Active C
145、ruise with Braking,Wingman Advanced,and Wingman Fusion.10 These systems combine datainputs from radar,camera,and brake systems to enable applications suchas driver alerts and warnings,ACC,AEB,and other collision mitigationfeatures.Motor Coach Industries(MCI)introduced Bendix Wingmansystems in its J-
146、Series motor coach models,enabling ACC,AEB,LDW,andtraffic sign recognition features.11 Detroit Diesel(a Daimler Truck subsidiary)has a system called DetroitAssurance,which is a radar-based(with optional windshield-mountedcamera)system that interfaces with brake,engine,and transmissionsystems.12 Feat
147、ures include AEB(full or partial braking),active side guardassist(prevents merging into vehicles in the right-hand lane on highwaysor turning into pedestrians or cyclists during low-speed,right turnmaneuvers),ACC(down to a full stop),lane centering,LKA,and variousdriver warnings.The system can provi
148、de SAE Level 2 functionality in someconditions.Daimler has added some of the warning features to Mercedes-Benz and Sentra buses and motor coaches,13 and the company is workingto debut AEB and ACC in the Mercedes-Benz OC 500 bus in the second halfof 2022.1410 Bendix.(2022).“Products.”Accessed Septemb
149、er 2022.http:/ MCI.(2022).“Advanced Driver Assistance Systems.”Accessed September 2022.https:/ Detroit Diesel.(2022).“Detroit Assurance.”Accessed September 2022.https:/ Automotive World.(2020).“Safety for all:Mercedes-Benz and Setra offering sideguard assists as retrofit solutions for both trucks,bu
150、ses and coaches.”Accessed May 2023.https:/ Mercedes-Benz Bus.(2022,April).Extensive upgrade for the Mercedes-Benz OC 500 bus chassis:Cutting-edge technology with comprehensive safety and comfort features.https:/www.mercedes-benz- FEDERAL TRANSIT ADMINISTRATION 16SECTION|2 ZF acquired the brake syste
151、m supplier WABCO in 2020,15 along with its family of driver assistance systems under the OnGuard brand(OnGuardACTIVE and OnGuardMAX).16 Its products include features such as AEB(for both moving and stationary vehicles and pedestrians),ACC,and LKA,as well as warning systems for lane departure,followi
152、ng distance,excessive speed,and impending collisions.ZF has a collision mitigation system for city buses that builds on the OnGuardMAX system and offers performance tailored to city bus applications.17 The system combines camera and radar inputs to enable FCW and AEB features to prevent collisions w
153、ith vehicles,bicyclists,and pedestrians.In general,applications for commercial trucks include warnings for following distance and collisions as well as automated actuation for ACC and AEB.Each system supports different types of warnings and operates within different parameters.The currently availabl
154、e systems have minimum speed limitations(e.g.,15 or 20 mph).These limits may need to be adjusted for some bus applications,which depending on the use case being considered may need braking functionality at lower speeds.Early adaptations of these systems from truck to bus platforms have focused on mo
155、tor coaches,which generally operate in environments similar to those of heavy-duty commercial trucks(i.e.,higher-speed highways)and may not have standees.Additional work may be necessary to further adapt these systems to city transit buses,though that transition is already beginning for some systems
156、.Steering FirmsCompanies have developed automated steering systems that can be used in transit buses,but due to the limited durability and reliability of currently available systems,they may not meet bus manufacturer requirements for commercialized products.As with brake systems for heavy-duty comme
157、rcial trucks,steering systems in heavy-duty vehicles differ from those in light-duty vehicles.Heavy-duty vehicles such as transit buses and commercial trucks use hydraulic steering systems because current electric power steering systems cannot provide adequate torque on larger vehicles.Several suppl
158、iers such as Bosch,Knorr-Bremse(including acquisitions of Bendix,tedrive,and R.H.Sheppard Co.),18 Nexteer,and ZF(including acquisitions of WABCO and TRW)have commercialized 15 ZF.(2020,May 29).ZF Completes WABCO Acquisition.Press release.https:/ ZF.(2022).“OnGuard Collision Mitigation System.”Access
159、ed September 2022.https:/ ZF.(2022,April 25).Advancing City Safety:ZF Presents New Collision Mitigation System for City Bus Applications.Press release.https:/ Knorr-Bremse.(2016,September 12).Entering the steering systems business:Knorr-Bremse completes takeover of tedrive Steering.Press release.htt
160、ps:/www.knorr- Knorr-Bremse.(2020,June 2).Knorr-Bremse completes acquisition of R.H.Sheppard Co.,Inc.:The acquisition is a major step towards becoming a leading global manufacturer of steering systems for commercial vehicles.Press release.https:/www.knorr- FEDERAL TRANSIT ADMINISTRATION 17SECTION|2
161、steering products to create electro-hydraulic power steering systems,which allow the electronic actuation of heavy-duty vehicle steering systems.The proposed solutions range from adding a torque overlay on the steering column or on the large hydraulic gear to electronically manipulating the rotary v
162、alve with a motor or electro-magnetic actuator.These systems are used in medium-and heavy-duty trucks to provide ADAS features such as lane keep assistance and lane centering.As with automated braking systems,the currently available heavy-duty vehicle solutions are geared toward higher-speed use cas
163、es and may not be applicable to some of the lower-speed use cases of transit buses.Automation Systems MarketDevelopment of driving automation systems for transit buses has been gradual and while ADAS with low levels of automation are becoming available,they are not widely installed.ADS that are capa
164、ble of providing higher levels of automation are not yet commercially available and to the extent that they currently exist,they can be considered to be prototypes.The following subsections discuss the state of ADAS and ADS for buses,low-speed shuttles,and light-duty vehicles intended for transit se
165、rvice.Transit Bus ADASThe transit bus ADAS that are currently commercialized provide warnings and alerts but do not include automated control of foundational systems(e.g.,steering,acceleration,deceleration,and braking).19 To the extent that ADAS with automated control of foundational systems have be
166、en applied to buses,they are largely based on similar systems previously developed for and installed in other heavy-duty vehicles(i.e.,commercial trucks).Most commonly,those systems enable features such as ACC,AEB,and lane keeping.When adapting those systems for buses,companies have started with mot
167、or coach and school bus formats.While a few commercialized transit bus ADAS features exist in the United States(e.g.,driver warning and alert features),they do not include automated actuation of foundational systems.One such system,Mobileye Shield+,provides audio and visual alerts to warn the driver
168、 to react quickly to avoid a collision.20 Another similar ADAS,Protran Blind Spot Awareness,provides audio and visual warnings to the bus driver when an object is detected in the blind spot area of the bus.21 Protran also offers Safe Turn Alert 2.0,which provides audio and visual alerts to pedestria
169、ns and cyclists at crosswalks when a bus is making 19 One industry representative noted that components for automated steering that meet bus manufacturer requirements for buses are not yet available in the United States.20 Mobileye.(2022).“Mobileye Shield+.”Accessed October 2022.https:/ Protran Tech
170、nology.(2022).“Bus Safety.”Accessed October 2022.https:/ TRANSIT ADMINISTRATION 18SECTION|2 visual alerts to pedestrians and cyclists at crosswalks when a bus is making a turn.Lytx also offers its DriveCam system,which provides audio alerts for following distance and lane departure.22 Warning system
171、s such as those offered by Mobileye,Protran,and Lytx have been piloted by transit agencies and are commercially available.Outside of city transit buses and cutaway buses,Bendix Wingman Fusion system,which has largely been used in commercial trucks,has been applied to motor coaches.23 That system inc
172、ludes features such as adaptive cruise control with braking,braking for avoidance of collisions with stationary vehicles,collision mitigation,and alerts for following distance,stationary objects,and lane departure.In Europe,ADAS features for transit buses have begun to be commercialized.For instance
173、,ZF has announced its Collision Mitigation System for city bus applications.24 The system has active braking to help avoid head-on crashes with other road users,including vehicles,bicycles and pedestrians.The ZF press release notes that the system also helps counteract the negative impacts of sudden
174、 braking on passengers.MAN also offers ADAS features for motor coaches including adaptive cruise control,driver behavior monitoring and alerts,emergency automated braking,and driver alerts for lane keeping.25 As with ADAS for other vehicle formats,driver monitoring systems(or driver attentiveness sy
175、stems)are important in ensuring that drivers remain alert and engaged in the driving task.Such systems have been improving in their capabilities,though they may need further development and customization to be adapted for transit bus operations.A transit bus manufacturer identified lack of performan
176、ce information for insurance purposes as a challenge to adopting transit bus ADAS.It noted that demonstrating the capability of ADAS to reduce the number of accidents,damage to property,and liability could allow for reduced insurance rates.Transit Bus ADSWhile much of the ADS development has focused
177、 on light-duty vehicles and commercial trucks,some developers have either focused specifically on ADS for transit buses or have adapted their ADS to apply it to transit buses.Although some systems are used on public roads in limited operations,all 22Lytx.(2022).“Intelligent fleet safety solutions po
178、wered by video.”Accessed November 2022.https:/ MCI,op cit.24 ZF Group.(2022,April 25).Advancing City Safety:ZF Presents New Collision Mitigation System for City Bus Applications.Press release.https:/ MAN.(2022).“Increased Safety on the Road with MAN Assistance Systems.”Accessed October 2022.https:/w
179、ww.man.eu/de/en/bus/assistance-systems/overview/man-assistance-systems-overview.html.FEDERAL TRANSIT ADMINISTRATION 19SECTION|2 ADS for road vehicles are better considered as prototypes in pilots rather than commercialized products for long-term or permanent deployment.While ADS testing,broadly spea
180、king,has been occurring over the past several years,ADS testing in transit buses is more recent.The highest profile pilots in the United States have either begun in the past year or will begin in 2023 or later.Examples of ADS developers working to test and pilot ADS-equipped buses in the United Stat
181、es include ADASTEC,Perrone Robotics,RRAI,and Southwest Research Institute(SwRI).RRAI announced partnerships with both New Flyer and Gillig to develop ADS and ADAS for 40-foot transit buses.26 Perrone Robotics is working to install its ADS on shorter buses from GreenPower Motor Company,Lightning eMot
182、ors,Phoenix Motorcars,and Rampini.ADASTEC has applied its ADS to buses from Karsan,27 which are designed for European markets.The company has received a waiver from the National Highway Traffic Safety Administration(NHTSA)to import and test one of the buses in Michigan.It is also in the process of i
183、dentifying a domestic bus manufacturing partner to provide buses that comply with all relevant regulations for operating the United States.SwRI has applied its ADS to motor coaches 28 and to a 14-passenger cutaway bus.29 All ADS-equipped buses operated in the United States have used an onboard safet
184、y operator.Operations to date have not included charging fares to riding customers,although there are plans to operate ADS-equipped transit buses in revenue service soon as part of pilots currently planned.A transit bus manufacturer identified a lack of minimum safety performance standards or best p
185、ractices for ADS as a challenge.Such resources could help align expectations among project partners.Currently,various stakeholders may have different expectations leading up to the launch of pilots and demonstrations,which could cause confusion or miscommunication.26 RRAI.(2021,February 1).New Flyer
186、 unveils its automated bus.A cooperation with Robotic Research.https:/rr.ai/news/new-flyer-unveils-its-automated-bus-a-cooperation-with-robotic-research;and Allinson,M.(2022,January 11).Gillig and Robotic Research partner to develop autonomous buses.Robotics&Automation News.https:/ Karsan.(2021,Nove
187、mber 19).The US Expansion of Karsan Continues with Autonomous E-ATAK!Press release.https:/ Port Authority NY NJ.(2019,December 12).Port Authority Board Approves Demonstration Program to Test Groundbreaking Technology for Increasing Bus Capacity in the Lincoln Tunnel Exclusive Bus Lane.Press release.
188、https:/www.panynj.gov/port-authority/en/press-room/press-release-archives/2019_press_releases/port-authority-board-approves-demonstration-program-to-test-grou.html.29 Wessling,B.(2022,August 10).SwRI deploys autonomous shuttle for campus tours.The Robot Report.https:/ TRANSIT ADMINISTRATION 20SECTIO
189、N|2 Low-Speed Shuttles ADSIn addition to traditional transit buses,smaller automated shuttles are becoming more widely available for early pilot testing and demonstrations.Although numerous demonstrations and pilot projects feature these new types of vehicles,they are not currently produced at scale
190、 and many models do not comply with federal requirements such as the Federal Motor Vehicle Safety Standards(FMVSS)and the Americans with Disabilities Act(ADA).In addition,most automated shuttles are limited to carrying relatively few occupants and operating at low speeds(with typical maximum operati
191、ng speeds of 1012 miles per hour),which may preclude many transit use cases.As a result of these challenges,most automated shuttle customers to date have purchased or leased vehicles for research purposes rather than to operate a service to meet an existing transportation need.While some companies h
192、ave exited this space,others are doubling down to create new shuttle models that address the challenges faced by previous designs.Companies that have produced and operated novel design automated shuttles include 2getthere,Aurrigo,EasyMile,Local Motors,and Navya.However,some of these companies have e
193、ither reduced pilot activities or ceased operations altogether.Some have also applied their ADS to small,low-speed electric vehicles(called“low-speed vehicles”in FMVSS No.500)to create automated shuttles,such as Auro Robotics,May Mobility,Optimus Ride,Perrone Robotics,and RRAI.However,most of those
194、efforts have ended as the companies have ceased work with automated shuttles(Auro Robotics and Optimus Ride)or moved on to other platforms(May Mobility and RRAI).Perrone Robotics still works with Waev GEM shuttles30 and Tropos Motors electric vehicles,although it is also working with other larger bu
195、s platforms.While shuttle developers occasionally staff and operate automated shuttle pilots,they often contract with other companies to plan service,map operating environments,conduct operations,and perform shuttle service and maintenance.Companies that have filled this role include Beep,Transdev,F
196、irst Transit,Keolis,RATP Dev,and Via.31 As with ADS-equipped buses,ADS-equipped shuttles providing rides to the public in the United States have used onboard safety operators,though some unstaffed testing has occurred in closed test environments.In Europe,some shuttle services offer unstaffed 30In J
197、anuary 2022,Polaris Inc.sold its GEM brand to Waev Inc.31In October 2022,Transdev signed an agreement to purchase First Transit and the acquisition was completed in March 2023.Transdev.(2022,October 26).Transdev to Acquire First Transit to Deliver Safe,Sustainable,and More Innovative Solutions to Co
198、mmunities.Newsroom.https:/ Transdev.(2023,March 7).Transdev Completes Acquisition of First Transit to Become Leading Private Operator of Transportation in the U.S.Newsroom.https:/ TRANSIT ADMINISTRATION 21SECTION|2 service to riders.Few if any low-speed shuttle pilots have charged fares to riding cu
199、stomers.During the past year,the automated shuttle landscape has begun transitioning.Some companies have exited the market and while new shuttle projects are still being announced,pilot and demonstration announcements are occurring less frequently.In addition,some companies have transitioned from sh
200、uttle formats to more traditional vehicle formats.Examples of recent changes include:Exiting the market:In January 2022,Local Motors shut down32 andOptimus Ride discontinued its shuttle operations as part of an acquisitiondeal with Magna.33 Announcing fewer shuttle projects:Some of the high-profile
201、EasyMileshuttle pilots have concluded,34 but there have been few new U.S.EasyMileshuttle activities announced.Transitioning to traditional vehicles:May Mobility previously workedwith Polaris GEM shuttles but has largely transitioned to Lexus RX450hmodels35 and is now transitioning to Toyota Sienna m
202、odels.It had retaineda few Polaris GEM shuttles as a wheelchair-accessible option,but MayMobility transitioned to Toyota Sienna models in 2022 for wheelchair-accessible rides.36At the same time,multiple companies have announced efforts to create a new generation of novel design shuttles.Those new mo
203、dels will comply with some of the regulatory requirements(e.g.,FMVSS,ADA,and Buy America)that have proven challenging for previous automated shuttles.In February 2022,Benteler,Beep,and Mobileye announced an effort to develop automated electric shuttles designed to meet automotive industry and safety
204、 standards,37 with plans to 32 Bellan,R.(2022,January 13).Local Motors,the startup behind the Olli autonomous shuttle,has shut down.Tech Crunch.https:/ Magna.(2022,January 11).Magna Adds More Than 120 Engineers,Strengthens ADAS Capabilities.News release.https:/ WSP.(2021).Utah Autonomous Shuttle Pil
205、ot.Final Report.http:/ Smart Cities Alliance.(2022).“Autonomous Vehicles in Colorado.”Accessed September 2022.https:/www.avco.city/;and Cregger,J.,K.Mahavier,A.Holub,E.Machek,T.Crayton,R.Patel,and S.Suder.(2022).Automation in Our Parks:Automated Shuttle Pilots at Yellowstone National Park and Wright
206、 Brothers National Memorial.National Park Service.https:/www.nps.gov/subjects/transportation/upload/NPS-Automated-Shuttle-Pilots-Evaluation-Report.pdf.35 May Mobility.(2021,January 19).May Mobility launches Lexus-based shuttle.Press release.https:/ May Mobility.(2022,April 21).May Mobility advances
207、AV accessibility,leads industry with development of first ADA-compliant Toyota Sienna Autono-MAAS.Press release.https:/ Intel.(2022,February 14).Autonomous Movers Set for US Launch in 2024.Press release.https:/ TRANSIT ADMINISTRATION 22SECTION|2 begin production in 2025 under the new brand,Holon(sho
208、wn in Figure 2-1).38 Beep also partnered with ZF and plans to begin production of a novel design shuttle in 2025(shown in Figure 2-2).39 Both Holon and ZF vehicles aim to be accessible and capable of higher speeds than previous novel design shuttles.Both companies also plan to build the shuttles in
209、the United States.In July 2022,May Mobility announced it would work to integrate its ADS into the Toyota e-Palette shuttle in coming years.40 Also in July 2022,Zoox announced thatit had self-certified its purpose-built,automated,electric shuttle vehicle ascomplying with FMVSS requirements.41Figure 2
210、-1 Concept images of Holon shuttles38 Benteler.(2023,January 4).The Autonomous Mover for Everyone:World Premiere of Holon Vehicle at CES 2023.Press release.https:/ ZF.(2023,January 4).ZF announces partnership with mobility provider Beep to bring new-generation autonomous Level 4 shuttle to U.S.marke
211、t.Press release.https:/ May Mobility.(2022,July 12).May Mobility closes$111 million series C funding,begins preliminary development on Toyotas next generation mobility platform.Press release.https:/ Zoox.(2022,July 22).The next step on our journey to public roads.Journal.https:/ Credit:BeepFEDERAL T
212、RANSIT ADMINISTRATION 23SECTION|2 Figure 2-2 Concept image of the ZF shuttleNot all efforts are focused on FMVSS-compliant vehicles,however.Cruise and General Motors have been working toward operating the novel designed Cruise Origin shuttle and early in 2022,they filed a petition seeking approval f
213、rom the NHTSA to put it into commercial service.42 It is unclear whether the next generation of automated shuttles will overcome all the challenges the previous generation struggled with,but based on recent industry announcements work will continue on novel designed automated shuttle vehicles.Light-
214、Duty Vehicle ADSShared rides in light-duty passenger vehicles have become more common.In many cases,transit agencies are considering partnerships with transportation network companies(TNCs)such as Uber and Lyft to augment service with on-demand rides.43 While both Uber and Lyft have both sold their
215、ADS divisions(respectively to Aurora and Toyota),they continue to operate in this space through partnerships with ADS developers.Some ADS developers such as Cruise and Waymo offer their own shared ride services in ADS-equipped vehicles,while others such as May Mobility and Motional offer rides throu
216、gh partners such as Via or Lyft.May Mobility also 42 Grant,R.(2022,February 18).Seeking NHTSA review of the Origin.Cruise Blog.https:/ APTA.(2020,November 12).Transit and TNC Partnerships.American Public Transportation Association.https:/ Credit:BeepFEDERAL TRANSIT ADMINISTRATION 24SECTION|2 44 Stop
217、her,P.R.,T.B.Magassy,R.M.Pendyala,D.McAslan,F.N.Arevalo,and T.Miller.(2021).An Evaluation of the Valley MetroWaymo Automated Vehicle RideChoice Mobility on Demand Demonstration.Final Report,FTA Report No.0198.Federal Transit Administration.https:/www.transit.dot.gov/sites/fta.dot.gov/files/2021-09/F
218、TA-Report-No-0198%20REVISED.pdf.directly offers shared rides in locations where Via does not operate.While it has partnered with Via for multiple services in the United States,its rides are not exclusively through Via.As part of its efforts in Phoenix,AZ,Waymo partnered with the local transit agency
219、,Valley Metro,to conduct a pilot that provided rides to transit agency employees and users of Valley Metros RideChoice program.44 While most ADS-equipped TNC vehicles have an onboard safety operator,in some cases riders can request rides in unstaffed vehicles.The systems used by these companies are
220、providing rides to customers(who in many cases pay fares),but the technology is still being evaluated and developed;it is not yet commercially available.Section 3FEDERAL TRANSIT ADMINISTRATION 2545 FTA.(2021).“FTA-Funded and Managed Transit Bus Automation Demonstrations&Pilots.”Federal Transit Admin
221、istration.Last updated August 18,2021.https:/www.transit.dot.gov/research-innovation/fta-funded-and-managed-transit-bus-automation-demonstrations-pilots.46 In 2021,the BUILD discretionary grant program was renamed the Rebuilding American Infrastructure with Sustainability and Equity(RAISE)grant prog
222、ram,and prior to 2018 it had been known as the Transportation Investment Generating Economic Recovery(TIGER)grant program.Selected Research and Pilot ProjectsBecause the market for transit bus automation systems is relatively nascent,information on R&D and pilot activities can offer insight into sys
223、tems of interest that may be further developed into commercialized products in the future.Many of the projects covered in this section include those using more traditional bus formats.While low-speed shuttles may represent the largest number of projects in this area,this section will only include a
224、sampling of those projects.For the most part,the intent of the projects covered is primarily to demonstrate a proof-of-concept and gather data.Some of the products being tested may never enter revenue service beyond initial pilot tests,but they may represent an early stage in the development of futu
225、re products.Many of the domestic projects have been funded by FTA or other USDOT programs,though some efforts have been funded through state or local government funding or are part of partnerships between private sector firms to develop and test ADS for transit buses.Beyond the ADS-equipped transit
226、bus projects that have been announced in the United States,there is a substantial amount of work going into projects in various countries around the world,though most of the activity is centered on East Asia and Europe.The following subsections summarize several of these projects,both ADAS and ADS,i
227、n the United States and abroad.USDOT-Funded ActivitiesSeveral transit bus automation activities have received funding from USDOT in recent years.45 To pursue the Integrated Demonstrations that were identified in the STAR Plan,FTA included funding for projects through its Integrated Mobility Innovati
228、on(IMI)and Accelerating Innovative Mobility(AIM)programs,and it has recently issued another notice of funding opportunity(NOFO)for additional demonstrations.Also,in line with the STAR Plan,FTA has formed strategic partnerships with agencies to improve the evaluation and knowledge sharing of independ
229、ent transit bus automation projects.In addition to providing funding for its own projects,FTA has managed projects funded through other USDOT efforts such as the ADS Demonstration Grants and the Better Utilizing Investments to Leverage Development(BUILD)program.46 FEDERAL TRANSIT ADMINISTRATION 26SE
230、CTION|3 IMI Program ProjectsIn May 2019,FTA posted the Integrated Mobility Innovation Demonstration program NOFO,which accepted applications until August 2019.47 The programs primary stated purpose was to fund projects that demonstrate innovative,effective approaches,practices,partnerships,and techn
231、ologies to enhance public transportation effectiveness,increase efficiency,expand quality,promote safety,and improve the travelers experience.In addition to transit bus automation projects,the IMI program included funding for projects related to on-demand service and integrated fare payment technolo
232、gies.In March 2020,FTA selected three Integrated Mobility Innovation(IMI)Demonstration program projects related to transit bus automation.48 Of those,two moved forward,including the Testing and Deployment of Automated Buses on CTfastrak project led by the Connecticut Department of Transportation(CTD
233、OT)and the Arlington Rideshare,Automation,and Payment Integration Demonstration(RAPID)project led by the City of Arlington,TX.The third project was an automated circulator shuttle project to be led by the City of Columbus,IN,but it was withdrawn from the program and did not move forward.CTDOT CTfast
234、rak ProjectThe CTDOT Testing and Deployment of Automated Buses on CTfastrak project received$2,000,000 in IMI grant funding.The project will involve the operation of automated electric buses on the CTfastrak bus rapid transit(BRT)corridor,a nine-mile stretch of dedicated road between New Britain and
235、 Hartford,CT.In June 2020,New Flyer announced it would provide CTDOT with three automated 40-foot battery electric Xcelsior CHARGE transit buses for the project.The ADSfor the buses would be provided by its partner RRAI.49 In January 2021,NewFlyer and RRAI unveiled the ADS-equipped Xcelsior AV trans
236、it bus prototype(shown in Figure 3-1).50 The buses have been tested at a RRAI facility inClarksburg,MD,and they will be brought to the CTfastrak guideway for furthertesting,with a demonstration expected to begin in 2023.5147 FTA.(2019).“Integrated Mobility Innovation Demonstration Program Notice of
237、Funding.”Federal Transit Administration.Posted May 8,2019.https:/www.transit.dot.gov/funding/applying/notices-funding/integrated-mobility-innovation-demonstration-program-notice-funding.48 FTA.(2022).“Integrated Mobility Innovation(IMI)Fiscal Year 2019 Selected Projects.”Federal Transit Administrati
238、on.Accessed October 11,2022.https:/www.transit.dot.gov/research-innovation/integrated-mobility-innovation-imi-fiscal-year-2019-selected-projects.49 New Flyer.(2020,June 22).New Flyer to deploy first automated heavy-duty transit bus in North America;supporting Connecticuts pursuit of integrated mobil
239、ity.Press release.https:/ New Flyer.(2021,January 29).New Flyer unveils the Xcelsior AV North Americas first automated transit bus.Press release.https:/ RRAI.(2020,June 23).Robotic Research to Help CTDOT Make U.S.Transportation History on CTfastrak by Automating First Heavy-duty Transit Buses for Re
240、venue Service Deployment.Business Wire.Press release.https:/ TRANSIT ADMINISTRATION 27SECTION|3 Operations on CTfastrak will include automated precision docking to minimize gaps between platforms and buses and provide for ADA-compliant level boarding,improving accessibility for passengers,as well as
241、 the use of automation for bus platooning to improve operational flexibility(i.e.,adjusting bus capacity to meet levels of demand during peak and off-peak periods,and during special events).Arlington RAPID ProjectThe City of Arlingtons RAPID project received$1,698,558 in IMI grant funding.The projec
242、t involved operation of automated vehicles as part of the existing on-demand rideshare service provided by Via.RAPID is an on-demand service within a geofenced area covering a square mile of downtown Arlington and the University of Texas at Arlington(UTA)campus.When using the service,riders input th
243、eir desired origin and destination into the app,which identifies nearby pick-up and drop-off locations from a set of predefined stops.May Mobility supplied the ADS for the five vehicles used in the service,including four Lexus RX450h hybrid SUVs and one electric Polaris GEM e6 model.52 The Lexus RX4
244、50h models can carry up to three passengers and they represent May Mobilitys first operations using an automotive-grade platform.The Polaris GEM e6 model was modified to make it wheelchair accessible and allow it to carry two passengersone in a wheelchair and one in the front seat next to the onboar
245、d safety operator.May Mobility began mapping streets around downtown Figure 3-1 New Flyer Xcelsior AV transit bus equipped with an ADS from RRAIPhoto Credit:New Flyer52 Schrock,S.(2021,March 23).City of Arlington Launches First-of-Its-Kind,On-Demand Self-Driving Shuttle Service with RAPID Program.My
246、ArlingtonTX.https:/www.arlingtontx.gov/news/my_ arlington_t_x/news_stories/arlington_rapid_launch.FEDERAL TRANSIT ADMINISTRATION 28SECTION|3 53 Schrock,S.(2020,September 9).May Mobility Begins Mapping Downtown Streets for Citys Future Autonomous Vehicle Public Transportation Pilot Program.MyArlingto
247、nTX.54 May Mobility.(2021,January 19).May Mobility launches Lexus-based shuttle.May Mobility Blog.https:/ Schrock 2021,op.cit.56 The RAPID service area is bounded by Division Street and Mitchell Street(North-South)and Mary Street and Davis Drive(East-West).It includes the Arlington City Hall,the UTA
248、 campus,and numerous restaurants and other businesses.57 RAPID and the broader Via Arlington service use the same app,so riders can use the same app to choose between booking a ride on one of May Mobilitys ADS-equipped vehicles or on the conventional vehicles operated by Via.58 City of Arlington,et.
249、al.(2023).Arlington Rideshare,Automation,and Payment Integration Demonstration(RAPID)Final Report.Federal Transit Administration.April 2023.https:/www.transit.dot.gov/sites/fta.dot.gov/files/2023-04/FTA-Report-No-0244.pdf59 May Mobility.(2022,April 6).Arlington deployment:Year-one lookback and renew
250、al through 2024.May Mobility Blog.https:/ May Mobility 2022,April 21,op cit.Arlington and at the UTA campus in September 202053 and debuted the new Lexus RX450h platform in January 2021.54 The service launched for public use in March 2021.55 During the pilot,users could book rides within the RAPID s
251、ervice area during weekdays from 7:00 am to 7:00 pm.56 Riders could book and pay for rides through the Via app or by calling a phone number for the service.57 Standard Via fares applied to the general public,but UTA students were able to ride without paying a fare.Once a ride was booked,travelers we
252、re given instructions to walk to a nearby designated pick-up/drop-off location.After providing over 28,000 rides,the project team shared findings from the RAPID pilot in a final report published in April 2023.58 While the one-year pilot that FTA funded ended in March 2022,May Mobility and Via contin
253、ued operating the RAPID service.In April 2022,May Mobility announced that the service had been extended through 2024 after the North Central Texas Council of Governments provided an additional grant to extend the pilot for two years.59 After the first year of service,students now pay a discounted fa
254、re($1.00 off the standard Via fare as opposed to receiving fare-free rides),while other users pay the standard Via fare.May Mobility also announced plans to transition its fleet over to the Toyota Sienna van model beginning in late 2022.60 Arlington RAPID currently uses one Toyota Sienna model and f
255、our Lexus RX450h models(shown in Figure 3-2),but May Mobility will eventually switch the Lexus RX450h models out for Toyota Sienna models.The vans will allow the service to offer rides to larger groups(up to four ambulatory riders),and since the Toyota Sienna can be equipped with a BraunAbility ADA-
256、compliant wheelchair ramp and other necessary accessibility equipment,the same model will be able to provide rides to wheelchair users(up to two ambulatory riders and a wheelchair user).The new vehicle format will align with the standard human-driven Via fleet vehicles,which include multiple Toyota
257、Sienna vans.FEDERAL TRANSIT ADMINISTRATION 29SECTION|3 Figure 3-2 Lexus RX450h and Toyota Sienna equipped with ADS from May MobilityAIM Program ProjectsIn March 2020,FTA announced the Accelerating Innovative Mobility(AIM)NOFO.The intent of the AIM initiative was to provide funding to help transit ag
258、encies explore new service models that offer more efficient and frequent service.61 In August 2020,FTA selected two AIM program projects related to transit bus automation.The two selected projects were led by the Metropolitan Transit Authority of Harris County(Houston METRO)and Western Reserve Trans
259、it Authority(WRTA).METRO Shuttle of the Future ProjectHouston METROs Shuttle of the Future project received$1,473,435 in federal funding.62 It will test an automated electric shuttle bus that will serve Texas Southern University,the University of Houston,and Houstons Third Ward community.The shuttle
260、 will connect to Metro buses and light rail and be studied for potential use in urban and suburban environments.The pilot will use an automated ZEUS 400 cutaway bus provided by Phoenix Motorcars(shown in Figure 3-3).63 EasyMile was originally identified as the ADS provider for the bus,but it later w
261、ithdrew its participation from the project.To identify a new ADS provider,Houston METRO issued a request for proposals(RFP)to identify a new ADS provider and in August 2022,it received approval to contract with Perrone Robotics for the ADS.64 Once the bus is equipped with the ADS and delivered to Ho
262、uston METRO,the plan is for the vehicle to operate for a 12-month service period.Photo Credit:May Mobility61 FTA.(2022).“Accelerating Innovative Mobility.”Federal Transit Administration.Accessed October 2022.https:/www.transit.dot.gov/AIM.62 FTA.(2020).“FY20 Accelerating Innovative Mobility(AIM)Proj
263、ect Selections.”Federal Transit Administration.Accessed August 2020.https:/www.transit.dot.gov/research-innovation/fy20-accelerating-innovative-mobility-aim-project-selections.63 Phoenix Motorcars.(2020,September 17).Phoenix Motorcars wins grant with Houston Metro and EasyMile for development of fir
264、st FMVSS compliant autonomous shuttle bus in the US.PR Newswire.https:/ METRO.(2022).“Resolution 2022-102.”Houston METRO Board of Directors.August 25,2022.https:/ TRANSIT ADMINISTRATION 30SECTION|3 Figure 3-3 Phoenix Motorcars ZEUS 400 bus to be equipped with an ADS from Perrone Robotics WRTA ELATE
265、ProjectWRTAs Enhancing Life with Automated Transportation for Everyone(ELATE)project received$2,331,000 in federal funding.65 WRTA is partnering with the Santa Clara Valley Transportation Authority(VTA)to deploy an automated electric vehicle designed for accessibility in Mahoning Valley,OH,and Santa
266、 Clara Valley,CA,to augment fixed route bus and paratransit services.The two locations will test the ability of the automated vehicle to provide more efficient and cost-effective service under a variety of climates and operating conditions.The two transit agencies worked with CALSTART and a cohort o
267、f several other transit agenciesthe Connected and Automated Transit Users Forum(CATUF)to develop specifications for a small automated electric bus platform.66 The vehicle is expected to carry between 10 and 14 seated passengers and up to two wheelchair users,as well as an onboard safety operator.The
268、 partners plan to begin vehicle testing in 2023.On March 22,2021,VTA issued an RFP for the vehicles,which closed on May 17,2021.67 In August 2021,VTA announced its intent to enter into negotiations with First Transit(now owned by Transdev)as the successful proposer.First Transit is working with Perr
269、one Robotics,which Photo Credit:Phoenix Motorcars65 FTA 2020,op cit.66 CALSTART.(2020,October 2).National Team Awarded Federal Grant to Build Innovative Autonomous New Transit Vehicle.Press release.https:/calstart.org/national-team-awarded-federal-grant-to-build-innovative-autonomous-new-transit-veh
270、icle/.67 VTA.(2021).“Accessible Automated Electric Vehicles.”Santa Clara Valley Transportation Authority.Procurement issued March 22,2021.https:/ TRANSIT ADMINISTRATION 31SECTION|3 will apply its ADS to a bus manufactured by Sun Setter.The current target start date for operations is March 2024.ADAS
271、and Yard Operations NOFOIn September 2022,FTA announced a$6,500,000 NOFO to solicit proposals from organizations interested in advancing research into transit bus automation through demonstrations of transit bus ADAS and automated driving in transit bus yards.68 A total of$5,000,000 is available for
272、 ADAS demonstration and another$1,500,000 for the first phase of the yard operations demonstration.The demonstration projects are intended to better understand the potential benefits,costs,and other impacts of transit bus automation,as well as provide transit agencies with resources,guidance,and too
273、ls to make informed deployment decisions.The NOFO accepted applications until it closed on November 21,2022.On June 8,2023,FTA announced$11,600,000 in grants to support six transit bus automation research projects.69 Announced selectees focusing on ADAS applications included CTDOT,University of Alab
274、ama,Virginia Polytechnic Institute and State University,and Colorado Department of Transportation.Announced selectees focusing on yard operations included CapMetro and Pinellas Suncoast Transit Authority.STAR Plan Strategic PartnersThe STAR Plan included a Strategic Partnerships work area,which was
275、intended to improve the quality and usefulness of research by other actors and disseminate findings to a broad community,expanding participation of providers and suppliers.According to the STAR Plan,“Strategic partnerships will leverage research projects and investments led by other agencies.FTA fun
276、ding and technical assistance will supplement partners deployment and evaluation activities,so research topics of interest to FTA may be cost-effectively added and research findings can be disseminated.”70 FTA has identified three initial strategic partnerships,including work with Valley Metro,Acces
277、s Services,and Port Authority of New York and New Jersey(PANYNJ).Valley Metro in Phoenix,AZValley Metro received$250,000 in FTA funding as part of the Mobility on Demand(MOD)Sandbox project that supported the evaluation of its work with Waymo to provide automated vehicle rides to Valley Metro employ
278、ees and RideChoice 68 FTA.(2022).“Advanced Driver Assistance Systems(ADAS)for Transit Buses Demonstration and Automated Transit Bus Maintenance and Yard Operations Demonstration Program.”Federal Transit Administration.Accessed September 2022.https:/www.transit.dot.gov/grant-programs/advanced-driver-
279、assistance-systems-adas-transit-buses-demonstration-and-automated.69 FTA.(2023).“Biden-Harris Administration Announces More Than$11 Million in Grants to Support Automated Technology Research That Improves Bus Safety.”Federal Transit Administration.June 8,2023.https:/www.transit.dot.gov/about/news/bi
280、den-harris-administration-announces-more-11-million-grants-support-automated.70 FTA.(2018).Strategic Transit Automation Research Plan.Federal Transit Administration.January 2018.https:/www.transit.dot.gov/sites/fta.dot.gov/files/docs/research-innovation/114661/strategic-transit-automation-research-r
281、eport-no-0116_0.pdf.FEDERAL TRANSIT ADMINISTRATION 32SECTION|3 program users.Operations for Valley Metro employees began in September 2018 and the testing expanded in fall 2019 to include a selected group of RideChoice program users(RideChoice offers subsidized on-demand rides to paratransit users).
282、71 Valley Metro partnered with Waymo and Arizona State University for an on-demand shared ride service pilot with RideChoice program users riding in automated Chrysler Pacifica vans in Waymos service area of the Greater Phoenix region.The project team completed operations in summer 2020 and the fina
283、l report was issued in August 2021.72Access Services in Los Angeles,CA FTA committed$120,000 to Access Services to collect data and evaluate the ADS-equipped van being tested in its pilot.73 The intent of the project is to test an automated vehicle providing shuttle service between a light rail stat
284、ion and the Veterans Administration hospital and study how automated vehicles can meet the transportation needs of persons with disabilities.74 Access Services is using an accessible ADS-equipped Dodge ProMaster van equipped with automation technology to connect medical facilities to existing transi
285、t options(shown in Figure 3-4).75 Access Services partnered with LILEE Systems,which provided the ADS for the van.76 The demonstration vehicle was built in October 2021 and has been displayed at regional conferences.77 Due to the complexity of local jurisdiction preferences and interests,the project
286、 location is to be changed from a public road to a controlled environment.71 FTA.(2019).Transit Automation Case Study:Valley Metro.Federal Transit Administration.December 2019.https:/www.transit.dot.gov/sites/fta.dot.gov/files/docs/research-innovation/146736/transit-automation-case-study-valley-metr
287、o.pdf.72 Stopher et al.,op cit.73 Access Services.(2021).Proposed Annual Budget Fiscal Year 2020/2021.Accessed April 26,2021.https:/accessla.org/sites/default/files/Publications/2020_21%20Budget%20Book.pdf.74 Access Services.(2020).Access attends Transit Research Board(TRB)Annual Meeting.Behind the
288、Scenes,(12)2.https:/accessla.org/sites/default/files/Publications/BTS_Issue%202_Vol%2012.pdf.75 FTA.(2021).“FTA Transit Bus Automation Factsheet:Access Services.”Federal Transit Administration.Last updated August 17,2021,https:/www.transit.dot.gov/research-innovation/fta-transit-bus-automation-facts
289、heet-access-services.76 LILEE Systems.(2021,October 28).LILEE Systems partners with Access Services and Sunset Vans to showcase a new accessible autonomous vehicle at APTA EXPO 2021.Press release.https:/ SCAG.(2022).Meeting of the Regional Transit Technical Advisory Committee.Meeting notes,Southern
290、California Association of Governments,August 31,2022,https:/scag.ca.gov/sites/main/files/file-attachments/rttac083122fullagn.pdf?1661804239.FEDERAL TRANSIT ADMINISTRATION 33SECTION|3 Following final acceptance testing,which will occur at the Fairplex in Pomona,CA,Access Services plans to conduct a d
291、emonstration that will last three to six months.That demonstration will begin in early 2023 and will be held at the Rancho Los Amigos Rehabilitation Center in Downey,CA.In addition to demonstrating the ADS operation,the demonstration will include testing the HMI design and in-vehicle monitoring syst
292、em.The system will use Bluetooth beacons for ticket validation and to provide turn-by-turn wayfinding information to riders.PANYNJ in New York,NYFTA committed$250,000 to PANYNJ to collect data and evaluate the ADAS-equipped transit buses being tested in its pilot.78 The intent of the$4.8 million pro
293、ject is to test lateral lane-keeping and bus platooning to improve operations and reduce headways between buses as they traverse the Exclusive Bus Lane between the Lincoln Tunnel and New Jersey Turnpike.79 PANYNJ partnered with Southwest Research Institute to equip three motor coaches with automatio
294、n technology and conduct initial testing.Equipment installation in the motor coaches began in the first half of 2021 and off-site track testing was conducted later that year.On-site closed-lane testing was conducted in summer 2022.Figure 3-4 Dodge ProMaster bus equipped with an ADS from LILEEPhoto C
295、redit:LILEE Systems78 NJB.(2019).Port Authority of New York&New Jersey to Test New Tech for Lincoln Tunnel.New Jersey Business Magazine.https:/ PANYNJ 2019,op.cit.FEDERAL TRANSIT ADMINISTRATION 34SECTION|3 80 USDOT.(2019,September 18).U.S.Secretary of Transportation Announces Automated Driving Syste
296、m Demonstration Grant Winners.U.S.Department of Transportation.https:/www.transportation.gov/briefing-room/us-secretary-transportation-announces-automated-driving-system-demonstration-grant.ADS Demonstration Grant ProjectsIn September 2019,USDOT announced$60 million in funding for the ADS Demonstrat
297、ion Grants,which are intended to promote the testing and integration of automated vehicles into the transportation system and address concerns about safety,security,and privacy.80 USDOT selected eight proposals across seven states,including three projects with transit bus-related components that are
298、 led by the City of Detroit,Contra Costa Transportation Authority(CCTA),and the University of Iowa,respectively.City of Detroit Michigan Mobility Collaborative ADS Demonstration ProjectThis project was selected to receive$7,500,000 in federal funding.In its early stages,the project team will impleme
299、nt the Cooperative Automation Research Mobility Applications(CARMA)software platform for demonstration testing.In later stages,the team will develop mobility pilots that use Level 4 ADS to improve accessibility for older adults and persons with disabilities and deploy them on the streets of Detroit.
300、The pilots will be based on a discovery and ideation process with Detroits older adult and disabled communities and will leverage accessibility and human factors research underway at the University of Michigans Mcity facility.Contra Costa Transportation Authority ADS Demonstration ProjectThis projec
301、t was selected to receive$7,500,000 in federal funding.The project team will demonstrate ADS in shared,on-demand,wheelchair-accessible vehicles.The project is intended to support specific accessibility goals by focusing on ADS services that support medical patients to include riders with disabilitie
302、s,older adults,low-income,and others with mobility challenges.The project will include piloting transportation services for a retirement community in Rossmoor,CA,and non-emergency medical transport in Martinez,CA.In addition to working with ADS,the project will install connected vehicle infrastructu
303、re along I-680 to support personal mobility.CCTA began advertising its RFP in March 2022 and it closed in April 2022.The RFP indicated plans for initial prototype testing at GoMentum Station in late 2022 and early 2023.It also indicated plans to initiate the pilot demonstration at Bishop Ranch later
304、 in 2023 and at the Rossmoor site in 2024.FEDERAL TRANSIT ADMINISTRATION 35SECTION|3 University of Iowa ADS for Rural America Demonstration ProjectThis project was selected to receive$7,026,769 in federal funding.The project intends to connect rural transportation-challenged populations using an ADS
305、-equipped Ford Starlite Transit bus(shown in Figure 3-5).The University of Iowa procured its vehicle and upfitted it with necessary equipment.Beginning in late 2020 and continuing through Q1 2021,partner organizations including Starcraft,AutonomouStuff(a subsidiary of Hexagon),and Mandli Communicati
306、ons assembled the vehicle for the University of Iowa project,modifying it to support automation and accessibility systems,and mapping the route.81 The vehicle underwent multiple rounds of testing before beginning drives along a 47-mile loop from Iowa City through rural areas and small towns(Kalona,R
307、iverside,and Hills)beginning in fall 2021.82 The automated bus operates on mostly rural roadways of different types and conditions including marked,unmarked,and gravel roads.The project is using a phased approach,beginning with using automation on simpler roadways and maneuvers and over time includi
308、ng it in more complex situations(the bus travels the same route for all test phases).In April 2022,AutonomouStuff unveiled a new drive-by-wire R&D platform based on the Ford Transit chassis that was validated it as part of this project.83 As of fall 2022,the project had completed the first four of s
309、ix testing phases.81 Roggentien,K.(2020,December 3).Project update:Our vehicle is now becoming automated.ADS for Rural America,Driving Safety Research Institute,University of Iowa.https:/adsforruralamerica.uiowa.edu/news/2020/12/project-update-our-vehicle-now-becoming-automated;and Roggentien,K.(202
310、1,March 10).Project update:Equipment installed on new research vehicle.ADS for Rural America,Driving Safety Research Institute,University of Iowa.https:/adsforruralamerica.uiowa.edu/news/2021/03/project-update-equipment-installed-new-research-vehicle.82 Hexagon.(2022).On the Rural Road to Autonomy.V
311、elocity Magazine.https:/ PRWeb.(2022,April 21).Accelerate development of autonomous transit shuttles,last-mile delivery and university R&D programs through new by-wire platform from Hexagon|AutonomouStuff.https:/ last_mile_delivery_and_university_r_d_programs_through_new_by_wire_platform_from_ hexag
312、on_autonomoustuff/prweb18631654.htm.FEDERAL TRANSIT ADMINISTRATION 36SECTION|3 Figure 3-5 University of Iowa“ADS for Rural America”busBUILD Program ProjectsThe Better Utilizing Investments to Leverage Development(BUILD)discretionary grant program has funded road,rail,transit,and port projects with t
313、he intent to achieve both national objectives and significant local or regional impacts.84 When USDOT announced its 2018 BUILD program selections,it included three automated vehicle projects that were led by Regional Transportation Commission of Southern Nevada(RTC)in Las Vegas;Jacksonville Transpor
314、tation Authority(JTA)in Jacksonville,FL;and Eastgate Regional Council of Governments in Youngstown,OH.85 FTA is managing the RTC and JTA grants,while the Federal Highway Administration(FHWA)is managing the Eastgate Regional Council of Governments grant.RTC Las Vegas Medical District Automated Circul
315、ator and Connected Pedestrian Safety ProjectThis project was selected to receive$5,319,838 in federal funding.Also called the GoMed Project,it will provide automated shuttle service in the Las Vegas Medical District.In addition to the automated shuttle service,the project includes connected vehicle
316、and pedestrian detection technologies and other Photo Credit:University of Iowa84 In 2021,the BUILD discretionary grant program was renamed the Rebuilding American Infrastructure with Sustainability and Equity(RAISE)grant program.Prior to 2018,it had been known as the Transportation Investment Gener
317、ating Economic Recovery(TIGER)grant program.85 USDOT.(2018).BUILD Grants:2018 Awards.U.S.Department of Transportation.https:/www.transportation.gov/sites/dot.gov/files/docs/policy-initiatives/327856/build-fact-sheets-121118-355pm-update.pdf.FEDERAL TRANSIT ADMINISTRATION 37SECTION|3 infrastructure i
318、mprovements.RTC is coordinating with FTA on an approach for procuring ADS-equipped vehicles.It expects to launch service in 2025.JTA Bay Street Innovation Corridor ProjectThis project was selected to receive$25,000,000 in federal funding.Approximately half of the grant funding will support infrastru
319、cture improvements and Complete Street efforts,while the other half will support work with automated vehicles.86 The automated vehicle portion of the project provides for the purchase of approximately 15 automated vehicles as well as possible integrated data exchange units to collect,manage,and anal
320、yze information from the sensors and automated vehicles.In January 2022,JTA signed a deal with Balfour Beatty to design,build,maintain,and operate an automated vehicle service on an at-grade loop along Bay Street from Hogan Street to the Sports and Entertainment District in Jacksonville,FL.87 Prior
321、to conducting the Bay Street Innovation Corridor project,JTA partnered with multiple ADS developers to test ADS-equipped vehicles.It has tested multiple low-speed shuttles(e.g.,EasyMile EZ10,Local Motors Olli,and Navya Autonom)and more recently tested vehicles equipped with an ADS from Perrone Robot
322、ics,including a GreenPower AV Star bus(an example is shown in Figure 3-6)and a Waev GEM shuttle.88 86 FTA.(2019).Transit Automation Case Study:Jacksonville Transportation Authority.Federal Transit Administration.December 2019.https:/www.transit.dot.gov/sites/fta.dot.gov/files/docs/research-innovatio
323、n/146746/transit-automation-case-study-jacksonville-transportation-authority.pdf.87 Mendenhall,M.(2022,January 28).JTA signs$49 million contract with Balfour Beatty for Skyway replacement.Jacksonville Daily Record.https:/ 1).JTA Receives Autonomous Shuttle from Perrone Robotics.Jacksonville Transpor
324、tation Authority.Press release.https:/ TRANSIT ADMINISTRATION 38SECTION|3 Figure 3-6 GreenPower AV Star bus equipped with ADS from Perrone RoboticsEastgate Regional Council of Governments Youngstown SMART2 Network ProjectThis project was selected to receive$10,853,192 in federal funding.The project
325、will implement various pedestrian,bicyclist,and transit improvements and will include an automated shuttle service.The improvements will help connect Youngstown State University,Mercy Health,Youngstown Business Incubator,and Eastern Gateway Community College.Western Reserve Transit Authority(WRTA)is
326、 a project partner.Support Systems for Accessibility in ADS-Equipped Transit BusesIn addition to the role of driving,bus operators are responsible for many non-driving responsibilities including assisting with wayfinding,helping passengers board and alight,and aiding in the securement of passengers
327、and their mobility devices.In August 2022,FTA released a report on the accessibility aspects of ADS-equipped transit bus pilot and demonstration projects.89 USDOT activities in this area also include the Inclusive Design Challenge,which seeks to encourage accessibility related innovations for automa
328、ted vehicles,and the FTA Public Transportation COVID-19 Research Demonstration Grant Program,which funded some efforts to implement automated securement technologies.Photo Credit:Perrone Robotics89 Berg,I.,J.Cregger,and E.Machek.(2022).Accessibility in Transit Bus Automation:Scan of Current Practice
329、s and Ongoing Research.FTA Report No.0228,prepared by the Volpe National Transportation Systems Center and sponsored by the Federal Transit Administration,U.S.Department of Transportation.https:/www.transit.dot.gov/sites/fta.dot.gov/files/2022-08/FTA-Report-No-0228.pdf.FEDERAL TRANSIT ADMINISTRATION
330、 39SECTION|3 Inclusive Design Challenge At the October 2019 Access and Mobility for All Summit,USDOT announced the Inclusive Design Challenge.The goal of the challenge is to identify solutions to improve vehicle accessibility,encourage cross-disciplinary collaborations,incentivize development of new
331、 designs and technologies,and tap into the creativity and knowledge of various stakeholders.90 The$5 million challenge was divided into two stages.Proposals for the initial stage were due in October 2020 and semifinalists were announced in January 2021.91 In the second stage,semifinalists participat
332、ed in virtual workshops that were held in January 2022.Concepts proposed by semifinalists included a range of different applications,including wayfinding tools,trip planning tools,accessible user interfaces,automated wheelchair ramp deployment systems,and wheelchair securement systems.The 10 semifin
333、alists concluded their work in summer 2022,and winners were announced in July 2022.92 While the Inclusive Design Challenge is not specifically focused on ADS-equipped transit bus applications,some of the applications being developed by participants may be applicable as support systems for accessible ADS-equipped transit buses.Public Transportation COVID-19 Research Demonstration Grant Program In J
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