Gainesville AV Shuttle

Project Description: This project deployed an autonomous transit system to connect the City of Gainesville Innovation District and downtown with the University of Florida campus and student housing by means of frequent transit service. The goal of the Gainesville Autonomous Transit Shuttle (AV) is to maintain a maximum headway of 10 minutes or less for the buses. AV routes include SW 4th Avenue, SW 13th Street, SW 2nd Avenue, and S Main Street.

Project Status: Existing

Project Stakeholders:

• FDOT CO
• Gainesville Regional Transit System
• Gainesville Traffic Operations Division

Project Service Packages:

• VS16: Automated Vehicle Operations (Gainesville AV Shuttle)
• SU08: Security and Credentials Management (Gainesville AV Shuttle)
• SU09: Device Certification and Enrollment (Gainesville AV Shuttle)

Project Information Flows:

Information Flow	Source Element	Destination Element	Status
automated lane control data	Gainesville Smart Traffic TMC	City of Gainesville CAV Roadside Equipment	Existing
automated lane status	City of Gainesville CAV Roadside Equipment	Gainesville Smart Traffic TMC	Existing
automated vehicle control parameters	City of Gainesville CAV Roadside Equipment	Gainesville AV Shuttle Vehicles	Existing
automated vehicle control status	Gainesville AV Shuttle Vehicles	City of Gainesville CAV Roadside Equipment	Existing
device enrollment information	City of Gainesville CAV Roadside Equipment	FDOT SCMS	Planned
device enrollment information	Gainesville AV Shuttle Vehicles	FDOT SCMS	Planned
enrollment credentials	FDOT SCMS	City of Gainesville CAV Roadside Equipment	Planned
enrollment credentials	FDOT SCMS	Gainesville AV Shuttle Vehicles	Planned
environmental situation data	City of Gainesville CAV Roadside Equipment	Gainesville Smart Traffic TMC	Existing
misbehavior report	Gainesville AV Shuttle Vehicles	FDOT SCMS	Planned
security credential revocations	FDOT SCMS	Gainesville AV Shuttle Vehicles	Planned
security credentials	FDOT SCMS	Gainesville AV Shuttle Vehicles	Planned
security policy and networking information	FDOT SCMS	City of Gainesville CAV Roadside Equipment	Planned
security policy and networking information	FDOT SCMS	Gainesville AV Shuttle Vehicles	Planned
traffic situation data	City of Gainesville CAV Roadside Equipment	Gainesville Smart Traffic TMC	Existing
vehicle environmental data	Gainesville AV Shuttle Vehicles	City of Gainesville CAV Roadside Equipment	Existing
vehicle location and motion	Gainesville AV Shuttle Vehicles	City of Gainesville CAV Roadside Equipment	Existing
vehicle platoon coordination	Gainesville AV Shuttle Vehicles	City of Gainesville CAV Roadside Equipment	Existing
vehicle profile	Gainesville AV Shuttle Vehicles	City of Gainesville CAV Roadside Equipment	Existing

Project Functional Requirements (Element - Functional Object):

• City of Gainesville CAV Roadside Equipment - ITS Security Support
• 1: The ITS Object shall obtain security policy information from the Cooperative Intelligent Transportation System Credentials Management System (CCMS).
• 2: The ITS Object shall request enrollment credentials from the CCMS.
• 3: The ITS Object shall obtain the CCMS' trust credentials.
• 4: The ITS Object shall provide a mechanism for on-board applications to digitally sign messages using keys secured by the CCMS' trust authority.
• 5: The ITS Object shall provide a mechanism for on-board applications to authenticate messages secured by the CCMS' trust authority.
• 6: The ITS Object shall provide a mechanism for on-board applications to encrypt messages using keys secured by the CCMS' trust authority.
• 7: The ITS Object shall provide a mechanism for on-board applications to decrypt messages using keys secured by the CCMS' trust authority.
• 8: The ITS Object shall obtain a list of revoked credentials from the CCMS.
• 9: The ITS Object shall make the list of revoked credentials available to on-board applications.
• 10: The ITS Object shall maintain cryptographic secret information so that those secrets are accessible only to ITS Security Support, and not to any other Functional Object.
• 11: The ITS Object shall request pseudonymous credentials from the CCMS.
• 12: The ITS Object shall provide messages (that it receives) that indicate potential misbehavior/malfunction to the CCMS.


• City of Gainesville CAV Roadside Equipment - RSE Automated Vehicle Operations
• 1: The field element shall check the vehicle's condition to see if it is suitable for operating on automated lanes based on vehicle control parameters (speed, headway, etc.) used by vehicles in those lanes, and once confirmed, shall send control parameters to the vehicle.
• 2: The field element shall provide to the vehicle automated lane changing data based on a lane changing strategy and detailed lane changing parameters (e.g. exactly where, and at what speed the lane change will take place), under center control.
• 3: The field element shall manage the checking in and checking out of suitably equipped vehicles requesting use of automated lanes, and send a record of all requests to the responsible center.


• City of Gainesville CAV Roadside Equipment - RSE Environmental Monitoring
• 1: The field element shall communicate with passing vehicles to collect environmental monitoring data, including ambient air quality, emissions, temperature, precipitation, and other road weather information.
• 4: The field element shall provide application status to the center for monitoring.


• City of Gainesville CAV Roadside Equipment - RSE Traffic Monitoring
• 1: The field element shall communicate with on-board equipment on passing vehicles to collect current vehicle position, speed, and heading and a record of previous events (e.g., starts and stops, link travel times) that can be used to determine current traffic conditions.


• FDOT SCMS - CCMS Authorization
• 1: The Center shall generate credential identifiers using facilities that are independently owned and operated from one another.
• 2: The Center shall assign two or more non-unique identifiers, that when combined are unique, to each credential it distributes.
• 3: The Center shall verify information received in pseudonym requests.
• 4: The Center shall coordinate the distribution of credentials with other Centers.
• 5: The Center shall store credential identifiers using facilities that are independently owned and operated from one another.
• 6: The Center shall provide Vehicle pseudonymous credentials in response to valid Vehicle pseudonym requests.
• 8: The Center shall provide Center pseudonymous credentials in response to valid Center pseudonym requests.
• 9: The Center shall provide Connected Vehicle Roadside Equipment pseudonymous credentials in response to valid Connected Vehicle Roadside Equipment pseudonym requests.
• 10: The Center shall accept user permission information from Centers authorized to provide that information.
• 11: The Center shall acquire identifiers relevant to ITS services from the relevant registry of such identifiers


• FDOT SCMS - CCMS Enrollment
• 1: The Center shall provide enrollment credentials in response to valid enrollment requests.
• 2: The Center shall coordinate the distribution of enrollment credentials with other Centers.
• 3: The Center shall verify information received in enrollment requests.


• FDOT SCMS - CCMS Misbehavior Reporting and Action
• 1: The Center shall accept misbehavior reports from ITS Objects.
• 2: The Center shall analyze misbehavior reports.
• 3: The Center shall coordinate misbehavior analysis with other Centers.


• FDOT SCMS - CCMS Provisioning
• 1: The Center shall provide security and regulatory policy information to ITS Objects.
• 2: The Center shall provide its credentials information to ITS Objects.
• 3: The Center shall provide the operator with mechanisms for monitoring the status of all credential-granting activities without compromising any other requirement.


• FDOT SCMS - CCMS Revocation
• 1: The Center shall place certificates on the revocation list of those certificates that are associated with misbehavior.
• 2: The Center shall provide to ITS Objects a list of credentials whose trust as been revoked.


• Gainesville AV Shuttle Vehicles - ITS Security Support
• 1: The ITS Object shall obtain security policy information from the Cooperative Intelligent Transportation System Credentials Management System (CCMS).
• 2: The ITS Object shall request enrollment credentials from the CCMS.
• 3: The ITS Object shall obtain the CCMS' trust credentials.
• 4: The ITS Object shall provide a mechanism for on-board applications to digitally sign messages using keys secured by the CCMS' trust authority.
• 5: The ITS Object shall provide a mechanism for on-board applications to authenticate messages secured by the CCMS' trust authority.
• 6: The ITS Object shall provide a mechanism for on-board applications to encrypt messages using keys secured by the CCMS' trust authority.
• 7: The ITS Object shall provide a mechanism for on-board applications to decrypt messages using keys secured by the CCMS' trust authority.
• 8: The ITS Object shall obtain a list of revoked credentials from the CCMS.
• 9: The ITS Object shall make the list of revoked credentials available to on-board applications.
• 10: The ITS Object shall maintain cryptographic secret information so that those secrets are accessible only to ITS Security Support, and not to any other Functional Object.
• 11: The ITS Object shall request pseudonymous credentials from the CCMS.
• 12: The ITS Object shall provide messages (that it receives) that indicate potential misbehavior/malfunction to the CCMS.


• Gainesville AV Shuttle Vehicles - Vehicle Basic Safety Communication
• 2: The vehicle shall provide its location with lane-level accuracy to on-board applications.
• 6: The vehicle shall exchange location and motion information with roadside equipment and nearby vehicles.
• 7: The vehicle shall receive warnings, informational road signs, traffic meters, and signals provided by infrastructure devices.
• 11: The vehicle shall determine if vehicle systems status indicates a potentially hazardous road condition.
• 12: The vehicle shall analyze its own applications' performance and enter fail-safe mode (a mode such that the application cannot provide information or perform actions that affect its host) when critical components fail.


• Gainesville AV Shuttle Vehicles - Vehicle Control Automation
• 1: The vehicle shall monitor the area behind and in front of the vehicle to determine the proximity of other objects to the vehicle.
• 2: The vehicle shall monitor the area to the sides of the vehicle to determine the proximity of other objects to the vehicle to determine if a control adjustment is needed.
• 3: The vehicle shall evaluate the likelihood of a collision between two vehicles or a vehicle and a stationary object, based on the proximity of other objects to the vehicle and the current speed and direction of the vehicle.
• 5: The Vehicle shall provide its location with lane-level accuracy to on-board control automation applications.
• 6: The vehicle shall evaluate the likelihood of a collision between two vehicles or a vehicle and a stationary object, based on the proximity of other objects to the vehicle, roadway characteristics, and the current speed and direction of the vehicle.
• 9: The vehicle shall send appropriate control actions to the vehicle's steering actuators.
• 13: The vehicle shall be capable of performing control actions based upon warnings received from nearby special vehicles.
• 14: The vehicle shall be capable of performing control actions based upon warnings received regarding pedestrians, cyclists, and other non-motorized users that are sharing the roadway with the vehicle
• 15: The vehicle shall be capable of performing control actions based upon information received from the infrastructure regarding the status of the intersection the vehicle is approaching.
• 17: The vehicle shall send appropriate control actions to the vehicle's speed control systems (e.g., throttle, brakes).


• Gainesville AV Shuttle Vehicles - Vehicle Control Warning
• 1: The vehicle shall monitor the area to the sides of the vehicle to determine the proximity of other objects to the vehicle and if a warning is needed.
• 2: The vehicle shall evaluate the likelihood of a collision between two vehicles or a vehicle and a stationary object to warn the driver, based on the proximity of other objects to the vehicle, roadway characteristics, and the current speed and direction of the vehicle.
• 10: The Vehicle shall provide its location with lane-level accuracy to on-board warning applications.


• Gainesville AV Shuttle Vehicles - Vehicle Environmental Monitoring
• 1: The vehicle shall collect and process environmental sensor data, including air temperature and rain sensors.
• 2: The vehicle shall monitor the status of vehicle convenience and safety systems (wiper status, headlight status, traction control system status) that can be used to measure environmental conditions and record snapshots of significant events in these systems.
• 3: The vehicle shall transmit environmental probe data to the center along with location and timestamp information.
• 4: The vehicle shall transmit environmental probe data to field equipment located along the roadway using short range communications.


• Gainesville AV Shuttle Vehicles - Vehicle Platoon Operations
• 2: The vehicle shall request usage of automated lanes for all or part of an overall route; including sending vehicle conditions to the roadside to determine eligibility.
• 3: The vehicle shall collect and monitor data concerning the safety of the vehicle while on automated lanes including conditions of the brakes, drive train, forward/rear/side sensors, steering condition, fuel level, tire wear and pressure, and the status of vehicle processors and communications.
• 4: The vehicle shall monitor the area surrounding vehicle in an automated lane to determine the proximity of other objects to the vehicle. Obstacles could include animals, other vehicles, pedestrians, debris in roadway etc.
• 5: The vehicle shall evaluate the likelihood of a collision between two vehicles or a vehicle and a stationary object, based on the proximity of other objects to the vehicle, conditions of the roadway and environment, and the current speed and direction of the vehicle.


• Gainesville Smart Traffic TMC - TMC Automated Vehicle Operations
• 1: The center shall remotely control automated vehicle system field elements, by providing lane changing parameters, parameters for determination of vehicle suitability for particular automated lanes, and other control information required for automated highway operation.
• 2: The center shall maintain a log of all automated vehicle check-in and check-out transactions received from the field elements regardless of whether they are successful or not.


• Gainesville Smart Traffic TMC - TMC Basic Surveillance
• 1: The center shall monitor, analyze, and store traffic sensor data (speed, volume, occupancy) collected from field elements under remote control of the center.
• 3: The center shall monitor, analyze, and store multimodal crossing, high occupancy vehicle (HOV) and high occupancy toll (HOT) lane sensor data under remote control of the center.
• 5: The center shall respond to control data from center personnel regarding sensor and surveillance data collection, analysis, storage, and distribution.
• 6: The center shall maintain a database of surveillance equipment and sensors and associated data (including the roadway on which they are located, the type of data collected, and the ownership of each).

Standards:

• (None-Data) - Secure Internet (ITS)
• (None-Data) - WAVE WSMP
• US: Device enrollment - Secure Internet (ITS)
• US: Misbehavior reporting - Secure Internet (ITS)
• US: NTCIP Transportation Sensors - SNMPv3/TLS
• US: SAE Basic Safety Messages - WAVE WSMP
• US: SAE J3067 (J2735 SE) - WAVE WSMP
• US: SAE Weather Info - WAVE WSMP
• US: Security Credentials - Secure Internet (ITS)

Project Operational Concepts:

Roles and Responsibilities

• FDOT CO
• Enables trusted communications between mobile devices and other mobile devices, roadside devices, and centers and protect data they handle from unauthorized access.
• Supports connected and autonomous vehicle operations.
• The SCMS provides secure certificates to users within the CAV environment.


• Gainesville Traffic Operations Division
• Operate and maintain CAV Field Equipment.


• University of Florida
• Collect before and after data for evaluation.
• Conduct project evaluation.


• Gainesville Regional Transit System
• Operate AV Shuttles.