1. 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 3 LRT BRT Heavy Rail Bus Level of Investment (e.g. Capital Cost, Operating Cost) Level of Service/Performance Measure (e.g. Capacity, Operating Speed, Travel Time, etc.) Feasible Region Los Angeles Local Bus Los Angeles Metro Rapid BRT with VAA Fully Grade Separated Roadway Shoulder Operations At-Grade Transit- way Designated Arterial Urban Circulator Suburban Collector

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

6. Caltrans, together with AC Transit in the San Francisco Bay Area and the Lane Transit District (LTD) – Eugene Oregon, supported by PATH Goal: To demonstrate the technical feasibility of lateral vehicle guidance and how vehicle guidance can improve transit agency operational efficiency, performance and service quality. 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

7. 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. San Mateo Bridge AC Transit Proposed VAA Test Route: TransBay Express Bus Line M 45ft. MCI Coach / Air Conditioned/ High Back Seating / Wi Fi 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

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. 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