FDOT District 1 Automated Shuttle Service

Project Description: This project would deploy an autonomous transit system in Lee County providing connection between LeeTran transit service points.

Project Status: Planned

Project Stakeholders:

• City of Fort Myers
• FDOT CO
• Lee County DOT
• LeeTran

Project Service Packages:

• SU08: Security and Credentials Management (FDOT District 1 Automated Shuttle Service)
• SU09: Device Certification and Enrollment (FDOT District 1 Automated Shuttle Service)
• VS16: Automated Vehicle Operations (FDOT District 1 Automated Shuttle Service)
• PT01: Transit Vehicle Tracking (FDOT District 1 Automated Shuttle Service)

Project Information Flows:

Information Flow	Source Element	Destination Element	Status
automated lane control data	Lee County-Wide Advanced Traffic Management System	Lee County CAV Field Equipment	Planned
automated lane status	Lee County CAV Field Equipment	Lee County-Wide Advanced Traffic Management System	Planned
device enrollment information	Lee County CAV Field Equipment	FDOT SCMS	Planned
device enrollment information	LeeTran AV Shuttle Vehicles	FDOT SCMS	Planned
enrollment credentials	FDOT SCMS	Lee County CAV Field Equipment	Planned
enrollment credentials	FDOT SCMS	LeeTran AV Shuttle Vehicles	Planned
misbehavior report	LeeTran AV Shuttle Vehicles	FDOT SCMS	Planned
road network conditions	City of Fort Myers Traffic Monitoring System	LeeTran Transit Operations Center	Planned
road network conditions	Lee County-Wide Advanced Traffic Management System	LeeTran Transit Operations Center	Planned
security credential revocations	FDOT SCMS	LeeTran AV Shuttle Vehicles	Planned
security credentials	FDOT SCMS	LeeTran AV Shuttle Vehicles	Planned
security policy and networking information	FDOT SCMS	Lee County CAV Field Equipment	Planned
security policy and networking information	FDOT SCMS	LeeTran AV Shuttle Vehicles	Planned
traffic detector control	City of Fort Myers Traffic Monitoring System	City of Fort Myers Field Equipment	Planned
traffic detector data	City of Fort Myers Field Equipment	City of Fort Myers Traffic Monitoring System	Planned
traffic situation data	Lee County CAV Field Equipment	Lee County-Wide Advanced Traffic Management System	Planned
transit probe data	LeeTran Transit Operations Center	City of Fort Myers Traffic Monitoring System	Planned
transit probe data	LeeTran Transit Operations Center	Lee County-Wide Advanced Traffic Management System	Planned
transit vehicle location data	LeeTran AV Shuttle Vehicles	LeeTran Transit Operations Center	Planned
transit vehicle schedule performance	LeeTran AV Shuttle Vehicles	LeeTran Transit Operations Center	Planned
vehicle location and motion	LeeTran AV Shuttle Vehicles	Lee County CAV Field Equipment	Planned
vehicle profile	LeeTran AV Shuttle Vehicles	Lee County CAV Field Equipment	Planned

Project Functional Requirements (Element - Functional Object):

• City of Fort Myers Field Equipment - Roadway Basic Surveillance
• 1: The field element shall collect, process, digitize, and send traffic sensor data (speed, volume, and occupancy) to the center for further analysis and storage, under center control.
• 4: The field element shall return sensor and CCTV system operational status to the controlling center.
• 5: The field element shall return sensor and CCTV system fault data to the controlling center for repair.


• City of Fort Myers Traffic Monitoring System - 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.


• City of Fort Myers Traffic Monitoring System - 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.
• 2: The center shall monitor, analyze, and distribute traffic images from CCTV systems under remote control of the center.
• 4: The center shall distribute road network conditions data (raw or processed) based on collected and analyzed traffic sensor and surveillance data to other centers.
• 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).
• 7: The center shall remotely control devices to detect traffic.


• FDOT SCMS - CCMS Authorization
• 1: The Center shall generate credential identifiers using facilities that are independently owned and operated from one another.
• 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
• 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.
• 7: The Center shall provide Personal Device pseudonymous credentials in response to valid Personal Device 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.


• 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.


• Lee County CAV Field Equipment - ITS Security Support
• 1: The ITS Object shall obtain security policy information from the Cooperative Intelligent Transportation System Credentials Management System (CCMS).
• 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.
• 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.


• Lee County CAV Field 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.


• Lee County-Wide Advanced Traffic Management System - 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.


• Lee County-Wide Advanced Traffic Management System - 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.
• 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).


• LeeTran 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).
• 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.
• 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.


• LeeTran AV Shuttle Vehicles - Vehicle Basic Safety Communication
• 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.
• 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.


• LeeTran 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.
• 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).
• 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.


• LeeTran 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.
• 10: The Vehicle shall provide its location with lane-level accuracy to on-board warning applications.
• 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.


• LeeTran 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.


• LeeTran Transit Operations Center - Transit Center Vehicle Tracking
• 1: The center shall monitor the locations of all transit vehicles within its network.
• 2: The center shall determine adherence of transit vehicles to their assigned schedule.
• 3: The center shall provide transit operational data to traveler information service providers.
• 4: The center shall provide collected transit probe data to traffic management centers and traveler information service providers for use in measuring current traffic conditions.

Standards:

• (None-Data) - Secure Internet (ITS)
• US: Device enrollment - Secure Internet (ITS)
• US: GTFS real-time - Secure Wireless Internet (ITS)
• US: Misbehavior reporting - Secure Internet (ITS)
• US: NTCIP Transportation Sensors - SNMPv3/TLS
• US: SAE J3067 (J2735 SE) - LTE-V2X WSMP
• US: SAE LTE-V2X BSM - LTE-V2X WSMP
• US: Security Credentials - Secure Internet (ITS)
• US: TMDD - NTCIP Messaging

Project Operational Concepts:

Roles and Responsibilities

• Lee County DOT
• Operate traffic network safely and efficiently with utililization of Connected Vehilcle technologies.
• Provides security for CAV communications between vehicles and the roadside.


• LeeTran
• Operate AV Shuttles.


• City of Fort Myers
• Communicate status and concerns with LeeTran regarding the operation of the AV shuttles.
• Operate and maintain traffic signals in City of Fort Myers where the AV shuttles will be operating.


• FDOT CO
• Provide security and credentials management support and certificates for connected vehicle operations.
• Supports connected and autonomous vehicle operations.
• The SCMS provides secure certificates to users within the CAV environment.

Last Updated 4/18/2024