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C O N F E R E N C E P R O C E E D I N G S 5 2 Towards Road Transport Automation Opportunities in Public–Private Collaboration Summary of the Third EU-U.S. Transportation Research Symposium Katherine F. Turnbull Rapporteur April 14–15, 2015 National Academy of Sciences Building Washington, D.C. Organized by the U.S. Department of Transportation European Commission Transportation Research Board Washington, D.C. 2015 www.TRB.org TRANSPORTATION RESEARCH BOARD

Transportation Research Board Conference Proceedings 52 ISSN 1073- 1652 ISBN 978-0-309-36950-3 Subscriber Categories Vehicles and equipment; research; data and information technology; safety and human factors; society Transportation Research Board publications are available by ordering individual publications directly from the TRB Business Office, through the Internet at www.TRB.org or national-academies.org/trb, or by annual subscription through organizational or individual affiliation with TRB. Affiliates and library subscribers are eligible for substantial discounts. For further information, contact the Transportation Research Board Business Office, 500 Fifth Street, NW, Washington, DC 20001 (telephone 202-334-3213; fax 202-334- 2519; or e-mail TRBsales@nas.edu). Printed in the United States of America. NOTICE: The project that is the subject of this report was approved by the Governing Board of the National Research Council, whose members are drawn from the councils of the National Academy of Sciences, the National Academy of Engineering, and the National Academy of Medicine. The members of the committee responsible for the project were chosen for their special competencies and with regard for appropriate balance. This report has been reviewed by a group other than the authors according to the procedures approved by a Report Review Committee consisting of members of the National Academy of Sciences, the National Academy of Engineering, and the National Academy of Medicine. This project was organized by the U.S. Department of Transportation, the European Commission, and the Transportation Research Board. Planning Committee for EU-U.S. Transportation Research Symposium No. 3: Towards Road Transport Automation: Opportunities in Public–Private Collaboration Peter Sweatman, University of Michigan Transportation Research Institute, Chair Maxime Flament, ERTICO-ITS Europe, Vice Chair David Agnew, Continental Automotive NA Roberto Arditi, SINA Group Robert Denaro, ITS Consultant Aria Etemad, Volkswagen AG Ginger Goodin, Texas A&M Transportation Institute Natasha Merat, University of Leeds Liaisons, U.S. Department of Transportation Kevin Womack Alasdair Cain Kevin Dopart Nathaniel Beuse Timothy Johnson Liaisons, European Commission Alessandro Damiani Frank Smit Rebecca Vilarino-Regueiro Liam Breslin Maria Cristina Marolda Patrick Mercier-Handisyde Maria Carbone Keith Fitch Wolfgan Hoefs Nino Zambara Transportation Research Board Staff Neil J. Pedersen, Executive Director Mark Norman, Director of Program Development and Strategic Initiatives Monica Starnes, Senior Program Officer, Management, Policy, and International Relations Richard Cunard, Senior Program Officer and Traffic and Operations Engineer Michael Miller, Senior Program Associate TRB Publications Office Janet M. McNaughton, Senior Editor Mary McLaughlin, Proofreader Jennifer J. Weeks, Manuscript Preparation Juanita L. Green, Production Manager Cover design by Beth Schlenoff, Beth Schlenoff Design Typesetting by Carol Siegel

The National Academy of Sciences was established in 1863 by an Act of Congress, signed by President Lincoln, as a private, nongovernmental institution to advise the nation on issues related to science and technology. Members are elected by their peers for outstanding contributions to research. Dr. Ralph J. Cicerone is president. The National Academy of Engineering was established in 1964 under the charter of the National Academy of Sciences to bring the practices of engineering to advising the nation. Members are elected by their peers for extraordinary contributions to engineering. Dr. C. D. Mote, Jr., is presi- dent. The National Academy of Medicine (formerly the Institute of Medicine) was established in 1970 under the charter of the National Academy of Sciences to advise the nation on medical and health issues. Members are elected by their peers for distinguished contributions to medicine and health. Dr. Victor J. Dzau is president. The three Academies work together as the National Academies of Sciences, Engineering, and Medi- cine to provide independent, objective analysis and advice to the nation and conduct other activi- ties to solve complex problems and inform public policy decisions. The Academies also encourage education and research, recognize outstanding contributions to knowledge, and increase public understanding in matters of science, engineering, and medicine. Learn more about the National Academies of Sciences, Engineering, and Medicine at www.national- academies.org. The Transportation Research Board is one of seven major programs of the National Academies of Sciences, Engineering, and Medicine. The mission of the Transportation Research Board is to increase the benefits that transportation contributes to society by providing leadership in transpor- tation innovation and progress through research and information exchange, conducted within a setting that is objective, interdisciplinary, and multimodal. The Board’s varied activities annually engage about 7,000 engineers, scientists, and other transportation researchers and practitioners from the public and private sectors and academia, all of whom contribute their expertise in the public interest. The program is supported by state transportation departments, federal agencies including the component administrations of the U.S. Department of Transportation, and other organizations and individuals interested in the development of transportation. Learn more about the Transportation Research Board at www.TRB.org.

vPreface This document summarizes the symposium Towards Road Transport Automation: Opportunities in Public–Private Collaboration, which was held April 14 and 15, 2015, at the National Academy of Sciences Building in Washington, D.C. This sympo- sium was the third in a series of four annual symposia sponsored by the European Commission and the U.S. Department of Transportation and organized by the Transportation Research Board (TRB) of the National Academies of Sciences, Engineering, and Medicine. The goals of the symposia are to promote common under- standing, efficiencies, and transatlantic cooperation within the international transportation research commu- nity while accelerating transport-sector innovation in the European Union and the United States. The 2-day, invitation-only symposium brought together high-level experts to share their views on the future of surface transport automation from the tech- nological and socioeconomic perspectives. Recognizing the importance of the emerging transport automation ecosystem, participants came from public agencies, the automotive and technology industries, academia, con- sulting firms, and other groups key to implementation of road transport automation. A bilateral planning committee was assembled by TRB and appointed by the National Research Council to organize and develop the symposium program. The planning committee was chaired by Peter Sweatman of the University of Michigan Transportation Research Institute. Maxime Flament, ERTICO-ITS Europe, served as vice chair. Committee members provided expertise in vehicle technologies, intelligent transportation systems, human factors, traffic operations, and public policy. The planning committee was responsible for organizing the symposium, identifying speakers, commissioning two white papers, and developing three use case scenarios on road transport automation to facilitate discussion. The white papers and the use case scenarios are provided as appendixes. New readers may find it advantageous to review these appendixes first to more fully understand the discussion in the breakout groups. The three use case scenarios—freeway platooning, automated city center, and urban chauffeur—were devel- oped by the planning committee to help frame discussions in the breakout groups. The scenarios highlight potential applications at different levels of automation that serve different market segments and user groups and that reflect different implementation time frames. The breakout group discussions focused on identifying issues, opportunities, and research topics appropriate for EU-U.S. collaboration. The symposium’s interactive format enabled ongo- ing input from the assembled experts. The symposium began with a keynote presentation on realizing self- driving cars by Chris Urmson from Google. Summaries of the white papers on road transport automation as a public–private enterprise and as a societal change agent were also presented in the opening session. The format for the presentation of the three use case scenarios and the breakout group discussions was also highlighted. A similar format was followed for each of the use case scenarios. First, members of the planning commit- tee summarized the key elements of the scenario. Second,

vi participants broke into groups to discuss opportuni- ties, barriers, and potential research topics. Third, the reporters for each breakout group summarized the key discussion points in a general session. The symposium concluded with closing comments from EU, U.S. Depart- ment of Transportation, and TRB representatives. This report prepared by Katherine F. Turnbull, Texas A&M Transportation Institute, the symposium rappor- teur, is a compilation of the presentations and a factual summary of the ensuing discussions at the event. The planning committee’s role was limited to planning and convening the conference. The views contained in the report are those of individual symposium participants and do not necessarily represent the views of all par- ticipants, the planning committee, TRB, the European Commission, the U.S. Department of Transportation, or the National Research Council. This report was reviewed in draft form by individu- als chosen for their diverse perspectives and technical expertise. The purposes of this independent review are to provide candid and critical comments that will assist the institution in making the published report as sound as possible and to ensure that the report meets institutional standards for objectivity, evidence, and responsiveness to the project charge. The review comments and draft manuscript remain confidential to protect the integrity of the process. TRB thanks the following individuals for their review of this report: David Agnew of Continental Automo- tive Systems Inc., Myra Blanco of the Virginia Tech Transportation Institute, Greg Larson of the California Department of Transportation, and Tom Schaffnit of A2 Technology Management LLC. Although the reviewers provided many constructive comments and suggestions, they did not see the final draft of the symposium sum- mary before its release. The review of this summary was overseen by Henry G. Schwartz, Jr., consultant. Appointed by the National Research Council, he was responsible for making certain that an independent examination of this summary was performed in accordance with established procedures and that all review comments were carefully considered. Responsibility for the final content of this summary rests entirely with the authors and the institution. T O W A R D S R O A D T R A N S P O R T A U T O M A T I O N

vii Acronyms ACC adaptive cruise control AdaptIVe Automated Driving Applications and Technologies for Intelligent Vehicles APM automated people mover AV automated vehicle AV-CV automated vehicles and connected vehicles CES Consumer Electronics Show ConOps concept of operations CV connected vehicle DARPA Defense Advanced Research Projects Agency DSRC dedicated short-range communication EC European Commission Euro NCAP European New Car Assessment Program FOT field operations test GNSS global navigation satellite systems HMI human–machine interface I2V infrastructure-to-vehicle iGAME Interoperable GCDC (Grand Cooperative Driving Challenge) Automation Experience ITS intelligent transportation systems MaaS mobility as a service NRC National Research Council OEM original equipment manufacturer SAE Society of Automotive Engineers SLAM simultaneous localization and mapping TEAADS Test Environment for ADAS (Advanced Driver Assistance Systems) and Automated Driving Systems TRB Transportation Research Board U.S. DOT U.S. Department of Transportation UNECE United Nations Economic Commission for Europe V2I vehicle-to-infrastructure V2V vehicle-to-vehicle V2X vehicle-to-everything VRU vulnerable road user

Contents WELCOME AND INTRODUCTORY REMARKS ................................................................................ 1 OPENING PLENARY SESSION ............................................................................................................. 4 Keynote Presentation: Realizing Self-Driving Cars ................................................................................4 Chris Urmson Presentation of White Paper 1: Road Transport Automation as a Public–Private Enterprise ................7 Richard Bishop and Steven E. Shladover Presentation of White Paper 2: Road Transport Automation as a Societal Change Agent ..................10 Oliver Carsten and Risto Kulmala Setting the Stage for the Symposium ...................................................................................................13 Maxime Flament Plenary Session: Use Case Scenario 1 FREEWAY PLATOONING: MODERATELY AUTOMATED FREEWAY OPERATION .................. 16 Presentation of Use Case Scenario 1 ....................................................................................................16 Robert Denaro and Roberto Arditi Breakout Group A ..............................................................................................................................17 Robert Denaro and Oliver Carsten Breakout Group B ...............................................................................................................................18 Roberto Arditi and Richard Bishop Breakout Group C ..............................................................................................................................18 Ginger Goodin and Risto Kulmala Breakout Group D ..............................................................................................................................19 Aria Etemad and Steven E. Shladover Breakout Group E ...............................................................................................................................19 David Agnew and Keir Fitch Breakout Group F ...............................................................................................................................20 Natasha Merat and Jane Lappin Open Discussion .................................................................................................................................20

Plenary Session: Use Case Scenario 2 AUTOMATED CITY CENTER: HIGHLY AUTOMATED URBAN OPERATION ........................... 22 Presentation of Use Case Scenario 2 ....................................................................................................22 Ginger Goodin and Aria Etemad Breakout Group A ..............................................................................................................................23 Robert Denaro and Oliver Carsten Breakout Group B ...............................................................................................................................24 Roberto Arditi and Richard Bishop Breakout Group C ..............................................................................................................................24 Ginger Goodin and Risto Kulmala Breakout Group D ..............................................................................................................................25 Aria Etemad and Steven E. Shladover Breakout Group E ...............................................................................................................................25 David Agnew and Keir Fitch Breakout Group F ...............................................................................................................................25 Natasha Merat and Jane Lappin Open Discussion .................................................................................................................................26 Plenary Session: Use Case Scenario 3 URBAN CHAUFFEUR: FULLY AUTOMATED TAILORED MOBILITY SERVICE ......................... 27 Presentation of Use Case Scenario 3 ....................................................................................................27 Natasha Merat and David Agnew Breakout Group A ..............................................................................................................................28 Robert Denaro and Oliver Carsten Breakout Group B ...............................................................................................................................28 Roberto Arditi and Richard Bishop Breakout Group C ..............................................................................................................................29 Ginger Goodin and Risto Kulmala Breakout Group D ..............................................................................................................................29 Aria Etemad and Steven E. Shladover Breakout Group E ...............................................................................................................................30 David Agnew and Keir Fitch Breakout Group F ...............................................................................................................................30 Natasha Merat and Jane Lappin Open Discussion .................................................................................................................................30 CONCLUDING OBSERVATIONS AND DISCUSSION ...................................................................... 32 Overarching Themes ...........................................................................................................................32 Maxime Flament Comments from the Planning Committee and Open Discussion .........................................................33

CLOSING SESSION AND FINAL REMARKS ..................................................................................... 34 Closing Comments from the U.S. Department of Transportation .......................................................34 Kevin Womack Closing Comments from the European Commission ...........................................................................34 Alessandro Damiani Closing Comments from the U.S. Department of Transportation .......................................................35 Gregory Winfree Closing Comments from the Transportation Research Board .............................................................35 Neil Pedersen POTENTIAL PORTFOLIO FOR EU-U.S. RESEARCH ON ROAD TRANSPORT AUTOMATION ........................................................................................... 37 Katherine F. Turnbull APPENDIXES A. COMMISSIONED WHITE PAPER 1 Road Transport Automation as a Public–Private Enterprise .............................................................40 Steven E. Shladover and Richard Bishop B. COMMISSIONED WHITE PAPER 2 Road Transport Automation as a Societal Change Agent .................................................................65 Oliver Carsten and Risto Kulmala C. USE CASE SCENARIOS ................................................................................................................... 77 Use Case Scenario 1. Freeway Platooning: Moderately Automated Freeway Operation ....................77 Robert Denaro and Roberto Arditi Use Case Scenario 2. Automated City Center: Highly Automated Urban Operation .........................80 Ginger Goodin and Aria Etemad Use Case Scenario 3. Urban Chauffeur: Fully Automated Tailored Mobility Service .........................83 Natasha Merat and David Agnew D. FINAL PROGRAM .......................................................................................................................... 87 E. SYMPOSIUM ATTENDEES ............................................................................................................ 89

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TRB Conference Proceedings 52: Towards Road Transport Automation: Opportunities in Public-Private Collaboration summarizes the Towards Road Transport Automation Symposium held April 14-15, 2015, in Washington, D.C. The third of four symposiums in a series, this event aimed to share common practices within the international transportation research community to accelerate transport-sector innovation in the European Union and the United States. This symposium convened experts to share their views on the future of surface transport automation from the technological and socioeconomic perspectives.

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