1. Smart Driving Vehicles: Where Are We Now? What’s in it for NJ Transit? Alain L. Kornhauser, Ph.D. Professor, Operations Research & Financial Engineering Director, Program in Transportation Faculty Chair, PAVE (Princeton Autonomous Vehicle Engineering Princeton University and Jerome Lutin, Ph.D., P.E., AICP, F.ITE Former Senior Director, NJ Transit Presented at NJ Transit Newark, NJ May 17, 2013

2. Where Are We Now?

3. Pre-Safe Braking BAS-Plus Active Lane-Keeping Assist Active Lane-Keeping Assist (braking not steering  ) Volvo Truck Emergency braking

4. In In 717 out of 723 accidents ((99%) http://orfe.princeton.edu/~alaink/SmartDrivingCars/NHTSA_Hendricks2001_UnsafeDrivingActs.pdf “In 717 out of 723 crashes (99%), a driver behavioral error caused or contributed to the crash”

5. DOT HS 810 767 Pre-Crash Scenario Typology for Crash Avoidance Research More on Google: Levandowski Presentation

6. Bus 2.0: Initial Demonstration of Transit-based Driver Assistance Fleet of 10 Gillig low floor buses Morning and evening express services 22 mile (one-way) travel distance Reliable travel times in all weather and traffic conditions Fleet of 10 Gillig low floor buses Morning and evening express services 22 mile (one-way) travel distance Reliable travel times in all weather and traffic conditions

7. Bus 2.0: Transit-based Driver Assistance How Do They Do It?

8. It Just Works!

10. What’s in it for NJ Transit?

11. Fact: For over 40 years New Jersey has had the World’s Best “Bus Rapid Transit” System! It Consists of: Efficient Boarding/Alighting @ Port Authority Bus Terminal – 223 Departure Gates – Readily Accommodates 700 Buses/hr The World’s Best Bus Rapid Transit System

12. Fact: For over 40 years New Jersey has had the World’s Best “Bus Rapid Transit” System! It Consists of: Efficient Boarding/Alighting @ PA Bus Terminal Direct Access/Egress to Exclusive Lanes in the Lincoln Tunnel 3+ HOV Lanes on the NJ Turnpike that are, by default, essentially bus-only Many Strategically Located Park&Ride Lots The World’s Best Bus Rapid Transit System

13. Pieces are Connected by: “495-viaduct” Counter-flow Exclusive Bus Lane (XBL) (XBL) – Lane Segregation is by Removable Plastic Peg – Yet exceedingly Safe » 3 (?) accidents in 41 years, no fatalities. The World’s Best Bus Rapid Transit System

14. – Additional Demand Exists for “BRT 2 NYC” – How to increase capacity of XBL? “Take a 2 nd Lane”? – Political suicide! Widen the Viaduct and Helix? – Very expensive/disruptive How about Driver Assistance? – Extend Bus 2.0/ Mercedes Technology Improving The World’s Best Bus Rapid Transit System

15. add Intelligent Cruise Control with Lane Assist to the 3,000 buses… e.g. Daimler Benz Distronic Plus with Traffic Jam AssistDistronic PlusTraffic Jam Assist even at an incremental $75,000/bus this is just $200M Could achieve sustained 3.0 second headways – Increases practical throughput by 50% from 700 -> 1,000 buses/hr; 35,000 -> 50,000 pax/hr – Increased passenger capacity comparable to what would have been provided by $10B ARC rail tunnel Institutionally manageable: – All Express Buses are acquired according to NJT Specs. – Facilities (XBL, LT, PABT) are controlled by PANY&NJT Ideal test facility available: – Ft. Monmouth Improving The World’s Best Bus Rapid Transit System

16. Concept Not New: Concept Makes Even More Sense Now! Improving The World’s Best Bus Rapid Transit System

17. Near-term Opportunity for a Substantive Extension of Autonomous Transit Specific: General Mobility for Fort Monmouth Redevelopment – Currently: Decommissioned Ft. Monmouth is vacant. Ft. Monmouth Economic Revitalization Authority (FMERA) is redeveloping the 3 sq. mile “city”FMERAredeveloping Focus is on attracting high-tech industry The “Fort” needs a mobility system. FMEDA is receptive to incorporating an innovative mobility system Because it is being redeveloped as a “new town” it can accommodate itself to be an ideal site for testing more advanced driverless systems.

18. Discussion!

19. Thank You

20. AHS Studies by FHWA in late 70’s and mid 90’s 2005 2007 2004 Military: Absolutely NOT interested in building Infrastructure Must Operate in “Harshest” Environment ~ 2000: Military: Mandate to automate ground logistics Evolution of AHS Concept ( Automated Highway System )

21. 20052007 Link to Presentation Not Easy20072005 Old House Beginning of Serious Vehicle Automation

22. 2. Current State of Driverless Vehicles Recent advances in automated systems in exclusive environments: – Milan driverless Metro – PodCar system at Heathrow Extension Plans announced – Driverless Trucks in Australian & Chilean Mines http://www.youtube.com/watch?v=ET_DaHJzUbI http://www.youtube.com/watch?v=s0RCSX95QmE http://www.ultraglobalprt.com/heathrow-announces-plans- additional-personal-rapid-transit-prt-system-heathrow/# http://www.ultraglobalprt.com/heathrow-announces-plans- additional-personal-rapid-transit-prt-system-heathrow/#

23. http://www.youtube.com/watch?v=MZ 3s_cdk_yE&feature=player_embedded http://www.youtube.com/watch?v=MZ 3s_cdk_yE&feature=player_embedded http://www.youtube.com/watch?v=0D 0ZN2tPihQ&feature=player_embedded http://www.youtube.com/watch?v=0D 0ZN2tPihQ&feature=player_embedded http://orfe.princeton.edu/~alaink/Sma rtDrivingCars/Videos/VolvoPlatooningC oncept.wmv http://orfe.princeton.edu/~alaink/Sma rtDrivingCars/Videos/VolvoPlatooningC oncept.wmv http://www.youtube.com/watch?v=rid S396W2BY&feature=player_detailpage http://www.youtube.com/watch?v=rid S396W2BY&feature=player_detailpage Assorted Videos of Self-Driving Cars http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/1 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/1 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/2 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/2 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/3 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/3 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/4 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4 http://orfe.princeton.edu/~alaink/SmartDrivingCars/Videos/4 _FrozenLakeVID_onlySteeringWoIndividualWheelBraking.mp4

24. http://www.youtube.com/watch?v=cdgQpa1pUUE

25. Initial Demonstration of Autonomous Transit Autonomous Buses at La Rochelle (CyberCars/Cybus/INRIA) http://www.youtube.com/watch?v=72-PlSFwP5Y Autonomous Buses at La RochelleCybus http://www.youtube.com/watch?v=72-PlSFwP5Y – Simple virtual non-exclusive roadway Virtual vehicle-based longitudinal (collision avoidance) and lateral (lane keeping) systems