Overview of Vehicle Assist and Automation (VAA) Technologies and Applications

1. 2009 International Bus Roadeo Overview of Vehicle Assist and Automation (VAA)Technologies and Applications Rob Gregg Director, Transit Management & Innovation NBRTI/CUTR/University South Florida QUALITY TRANSIT -- NOW

2. What is VAA ? “VAA systems are a cost effective solution to provide Rail like service at bus type prices using BRT vehicles Equipped with inexpensive driver assist technologies” • Vehicle Assist: applications that help driver maintain control bus (driver always in control): • Precision Docking • Vehicle Guidance • Vehicle automation: applications that provide full automated control • Platooning • Automated Vehicle Operations

3. VAA: An Enabler for BRT Feasible Region Level of Investment(e.g. Capital Cost, Operating Cost) Heavy Rail LRT BRT with VAA • Fully Grade Separated • Roadway Shoulder Operations • At-Grade Transit-way • Designated Arterial • Urban Circulator • Suburban Collector BRT Bus Los Angeles Metro Rapid Los Angeles Local Bus Level of Service/Performance Measure(e.g. Capacity, Operating Speed, Travel Time, etc.)

4. PATH Magnetic Guidance SystemPATH/UC Berkley/Caltrans • Developed since 1987 and thoroughly tested • National Automated Highway Systems Consortium demonstration in San Diego in 1997 • Field tested for Bus Rapid Transit on arterials • High performance • 10 cm lane keeping accuracy at highway speeds • 5 mm precision docking accuracy • Costs for infrastructure instrumentation: less than $20k per mile 5 mm = 0.196850 "

5. Yaw rate gyro PATH DGPS/INS/Magnet Based Guidance System Steering actuator Integrated DGPS/INS Unit Magnetic Marker System

6. Caltrans, together with AC Transit in the San Francisco Bay Area and the Lane Transit District (LTD) – Eugene Oregon, supported by PATH Goal: Benefits of Lane Assist Technology : Reduced Land Use Reduced Impervious Surface Minimize impact on Existing Land Uses Reductions in Dwell Times at Stops Reduced Travel Time Safer Operation Improved ADA Access Rail-Like Image • To demonstrate the technical feasibility of lateral vehicle guidance and how vehicle guidance can improve transit agency operational efficiency, performance and service quality.

7. VAA Demonstration Environment / Technology • Revenue Service Applications • AC Transit - Lateral guidance on an HOV lane and through a toll plaza • LTD - Bus Rapid Transit (BRT) transit way lateral guidance and precision docking at bus stops • Technologies Proposed • Magnetic marker sensing • Differential Global Positioning System (DGPS) with inertial navigation sensors • Combination of the two

8. AC Transit Proposed VAA Test Route: TransBay Express Bus Line M • 45ft. MCI Coach / Air Conditioned/ High Back Seating / Wi Fi San Mateo Bridge • Service Bay using San Mateo (92) and Dumbarton Bridges (84)

9. Application Environments • AC Transit Lane M • 4 miles HOV on Route 92 • Narrow toll plaza on San Mateo Bridge • Positioning Bike Racks (4 Bikes, 2 per bay) and wheelchair lifts • Diverse urban & suburban local streets • Poor road conditions (trees, narrow roadways, tight turns)

10. 63-foot articulated bus • New Flyer • Hybrid-electric propulsion • Doors on left and right side • Bikes on board Vehicle

11. Application Environments • Lane Transit BRT • Four-mile corridor & eight stations • 15.5-minute travel time • 10 minute service (except late at night) • (1) 60 ft New Flyer BRT buses • Technology to be tested • Magnetic guidance along dedicated lane segments • Precision docking • Collection of DGPS data for verification for lane assist and precision docking in urban area

12. Eugene Segment Roadwork

14. Median traversable Transit Lane

15. Other VAA Demonstrations • Minneapolis Urban Partnership Agreement (UPA) Lane Assist • Shoulder Running: Cedar Avenue (TH 77) – Cross-town Commons (TH 62) – I-35W • Differential GPS & Non-contact Velocity Measurement Technique (to augment DGPS) • Development Underway • SANDAG Transit Only Lane (TOL) • Shoulder Running: I-805 • Technology TBD • Proposals Received

16. Minnesota Lane Assist Project • System component procurement / design complete. • The DGPS Virtual Reference Station Network is operational with 5 of 6 base stations connected. • The driving simulator purchased / Operational spring of 2009. • The U of MN HumanFIRST program has initiated the development of the training protocol, both for the simulator portion of the training program, and for the on-road portion of the training protocol. • New steering feedback system designed, and is under development. • Operational 2010

17. SANDAG San Diego VAA Project: TOL (Transit Only Lane) • 21 Miles of Freeway Shoulder Operations. • Introduces this new transit service along a 20 mile stretch of the I-805 corridor (42 miles round trip) • Provide drivers with assistive technologies but ensure they retain ultimate control. • Utilize combination of sensors to support situational awareness, lane-keeping and adaptive cruise control functions. • Builds on the successful technology demonstrations in 1997 and 2003 in San Diego. • Request for Proposals: Winter 2008 – currently evaluating proposals • Begin Design & Construction: Spring 2009 • Begin Service: Spring 2010

18. VAA: Potential Capital Cost Benefits: Narrow Right of Way • Standard Bus width 8.5. ft. + mirrors • Standard Highway Lane Width = 12 ft. • Automatic Steering Reduces Lateral Tracking Errors to 10 cm or less on straight roads and moderate curves • Reduction cost for Bus ROW & Construction? • Bridges and Tunnels?

19. Envisioned Customer / Operational Benefits • “Rail-Like” Experience • Easy Access, ADA Feature, Bicycle Use Improvement • Reduce Boarding / Dwell Time • Reduce System / Vehicle Damage • Reduce Operating / Maintenance Costs • Improve Travel Time, Safety and Productivity

20. VAA Advisory Panel (VAAAP) • Peer Transit Agencies • Technology Experts • User Market Interest Groups • Industry Manufacturers Technology / Information Transfer

21. Thank You! Rob Gregg Director, Transit Management & Innovation NBRTI/CUTR/University South Florida Gregg@CUTR.usf.edu Wei-Bin Zhang, PATH / University of California, Berkeley wbzhang@path.berkeley.edu