FDOT Smart Bay Project - Part 2

Project Description: This project architecture represents the second part of the Smart Bay project and it includes the deployment of autonomous shuttles in the US 98 corridor in Bay County.

The Smart Bay project covers approximately 51 miles of US 98 in Bay County. Smart Bay is aimed at making the County visitor experience memorable and increasing the economic vitality of the region by improving safety and mobility, and increasing economic development activities in the region. The anticipated benefits from the project include improved roadway and incident clearance times, improved pedestrian and bicycle safety, enabled air force base fleet, transit, and freight signal priority and emergency vehicle preemption, improved traveler information, connected airport and seaport, smart work zone management, real–time traveler information, enabled road weather information system, rail crossing advance warning, bridge weather monitoring sensor, and enabled vehicle to vehicle (V2V) connection for autonomous shuttles.

Project Status: Existing

Project Stakeholders:

• Bay County Transit
• FDOT CO
• FDOT District 3

Project Service Packages:

• VS16: Automated Vehicle Operations (Smart Bay Shuttle)
• SU08: Security and Credentials Management (FDOT Smart Bay Project Part 2)
• SU09: Device Certification and Enrollment (FDOT Smart Bay Project Part 2)
• SU04: Map Management (FDOT Smart Bay Project Part 2)

Project Information Flows:

Information Flow	Source Element	Destination Element	Status
automated lane control data	FDOT District 3 Chipley RTMC	FDOT District 3 CAV Field Equipment	Planned
automated lane status	FDOT District 3 CAV Field Equipment	FDOT District 3 Chipley RTMC	Planned
device enrollment information	FDOT District 3 CAV Field Equipment	FDOT SCMS	Planned
device enrollment information	Smart Bay Shuttle Vehicles	FDOT SCMS	Planned
enrollment credentials	FDOT SCMS	FDOT District 3 CAV Field Equipment	Planned
enrollment credentials	FDOT SCMS	Smart Bay Shuttle Vehicles	Planned
environmental situation data	FDOT District 3 CAV Field Equipment	FDOT District 3 Chipley RTMC	Planned
intersection geometry	CAV-ITS Map Update System	FDOT District 3 CAV Field Equipment	Planned
intersection geometry	CAV-ITS Map Update System	FDOT District 3 Chipley RTMC	Planned
map update notification	FDOT District 3 Chipley RTMC	CAV-ITS Map Update System	Planned
map updates	CAV-ITS Map Update System	FDOT District 3 CAV Field Equipment	Planned
map updates	CAV-ITS Map Update System	FDOT District 3 Chipley RTMC	Planned
misbehavior report	FDOT District 3 CAV Field Equipment	FDOT SCMS	Planned
misbehavior report	Smart Bay Shuttle Vehicles	FDOT SCMS	Planned
security credential revocations	FDOT SCMS	FDOT District 3 CAV Field Equipment	Planned
security credential revocations	FDOT SCMS	Smart Bay Shuttle Vehicles	Planned
security credentials	FDOT SCMS	FDOT District 3 CAV Field Equipment	Planned
security credentials	FDOT SCMS	Smart Bay Shuttle Vehicles	Planned
security policy and networking information	FDOT SCMS	FDOT District 3 CAV Field Equipment	Planned
security policy and networking information	FDOT SCMS	Smart Bay Shuttle Vehicles	Planned
traffic situation data	FDOT District 3 CAV Field Equipment	FDOT District 3 Chipley RTMC	Planned
traveler request	Smart Bay Shuttle Vehicles	FDOT District 3 Public Information Office Systems	Planned
traveler request	Smart Bay Shuttle Vehicles	Florida 511	Planned
trip confirmation	Smart Bay Shuttle Vehicles	Florida 511	Planned
trip request	Smart Bay Shuttle Vehicles	Florida 511	Planned
vehicle location and motion for surveillance	Smart Bay Shuttle Vehicles	FDOT District 3 CAV Field Equipment	Planned
vehicle location data for mapping	FDOT District 3 CAV Field Equipment	CAV-ITS Map Update System	Planned
vehicle profile	Smart Bay Shuttle Vehicles	FDOT District 3 CAV Field Equipment	Planned

Project Functional Requirements (Element - Functional Object):

• CAV-ITS Map Update System - Map Management
• 18: The Center shall provide intersection geometry updates to Connected Vehicle Roadside Equipment.
• 2: The Center shall collect updates to roadway geometry from other Centers.
• 21: The Center shall provide intersection geometry updates to Vehicles.
• 4: The Center shall collect updates to intersection geometry from other Centers.


• FDOT District 3 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).
• 2: The ITS Object shall request enrollment credentials from the CCMS.
• 3: The ITS Object shall obtain the CCMS' trust credentials.


• FDOT District 3 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.


• FDOT District 3 CAV Field 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.
• 2: The field element shall aggregate and forward collected environmental probe information to the center.
• 3: The field element shall collect environmental monitoring data from sensors, 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.
• 5: The field element shall aggregate and filter the collected environmental data based on configuration parameters received from the controlling center.
• 6: The field element shall process the collected data locally and issue short-term road weather advisories for the road segment using short range communication.
• 7: The field element shall provide environmental data to other field elements.


• FDOT District 3 CAV Field 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.
• 2: The field element shall aggregate and forward collected probe information to the center.
• 3: The field element shall aggregate and forward collected probe information to other field elements.


• FDOT District 3 Chipley RTMC - 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.


• FDOT District 3 Chipley RTMC - 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.


• FDOT District 3 Chipley RTMC - TMC Environmental Monitoring
• 1: The traffic center shall remotely control environmental sensors that measure road surface conditions including temperature, moisture, icing, salinity, and other measures.
• 2: The traffic center shall remotely control environmental sensors that measure weather conditions including temperature, wind, humidity, precipitation, and visibility.
• 3: The traffic center shall assimilate current and forecast road conditions and surface weather information using a combination of weather service provider information (such as the National Weather Service and value-added sector specific meteorological services), data from roadway maintenance operations, and environmental data collected from sensors deployed on and about the roadway.
• 4: The traffic center shall receive road condition information from weather service providers.
• 5: The traffic center shall receive aggregated and processed vehicle environmental data collected from vehicle safety and convenience systems through the connected vehicle roadside equipment.
• 6: The traffic center shall share the collected environmental data with Maintenance and construction operations.
• 7: The traffic center shall provide drivers road weather advisories.


• 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 - 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.


• Smart Bay 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.


• Smart Bay Shuttle Vehicles - Vehicle Basic Safety Communication
• 10: The vehicle shall determine the status of host vehicle systems including vehicle speed, heading, yaw, wheelspin, ABS, traction control, and wiper status.
• 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.
• 13: The vehicle shall notify the driver when onboard components or safety applications are offline.
• 14: The vehicle shall determine if road conditions data received from other vehicles represent a potential safety hazard for the vehicle.
• 2: The vehicle shall provide its location with lane-level accuracy to on-board applications.
• 3: The vehicle shall provide its location with road-level accuracy to on-board applications.
• 4: The vehicle shall collect road condition data from other vehicles.
• 5: The vehicle shall calculate vehicle paths in order to determine if an impending collision is detected.
• 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.
• 8: The vehicle shall warn the driver of an Emergency Electronic Brake Light (EEBL) Event.
• 9: The vehicle shall determine when its host Vehicle is braking in an emergency fashion and broadcast an Emergency Electronic Brake Light (EEBL) notification.


• Smart Bay 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.
• 10: The vehicle shall present vehicle control information to the driver in audible or visual forms without impairing the driver's ability to control the vehicle in a safe manner.
• 11: The vehicle shall perform control actions based on information received from other vehicles regarding potentially hazardous road conditions or road hazards.
• 12: The vehicle shall perform pre-crash actions, including seatbelt tightening, brake assist, airbag pre-arming, bumper raising/extension.
• 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.
• 16: The vehicle shall be capable of performing control actions based upon information received from other vehicles regarding their status approaching 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.
• 7: The vehicle shall provide position control adjustments and warnings to the driver when an object gets close enough to the vehicle to become a hazard if no action is taken by the driver.
• 8: The vehicle shall provide an interface through which a vehicle driver can initiate, monitor and terminate automatic control of the vehicle.
• 9: The vehicle shall send appropriate control actions to the vehicle's steering actuators.


• Smart Bay 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.
• 11: The vehicle shall determine the trajectory of the host vehicle.
• 12: The vehicle shall determine if a crash between the host vehicle and a remote vehicle is imminent.
• 13: The vehicle shall determine if approaching vehicles are of type motorcycle.
• 14: The vehicle shall provide warnings to the driver that a motorcycle is approaching the driver’s vehicle.
• 15: The vehicle shall acquire the current location and motion of remote vehicles to determine any slow moving vehicles which the host vehicle is approaching.
• 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.
• 3: The vehicle shall provide position warnings to the driver when an object gets close enough to the vehicle to become a hazard if no action is taken by the driver.
• 4: The vehicle shall present vehicle control warnings information to the driver in audible or visual forms without impairing the driver's ability to control the vehicle in a safe manner.
• 5: The vehicle shall provide warnings to the driver based on information received from other vehicles regarding potentially hazardous road conditions or road hazards.
• 6: The vehicle shall receive emergency vehicle location information.
• 7: The vehicle shall notify the Driver of the presence of emergency vehicles nearby that may affect the host vehicle.
• 8: The vehicle shall provide warnings to the driver based upon warnings received from nearby special vehicles.


• Smart Bay 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.


• Smart Bay Shuttle Vehicles - Vehicle Platoon Operations
• 1: The vehicle shall provide the capability for a driver to request access to automated vehicle lanes.
• 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.
• 6: The vehicle shall provide warnings to the driver of potential dangers based on sensor input and analysis concerning the safety of the vehicle operating in an automated lane.
• 7: The vehicle shall present platoon information to the driver in audible or visual forms without impairing the driver's ability to control the vehicle in a safe manner.

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 Lane-Level Mapping - WAVE WSMP
• US: SAE Signal Control Messages - WAVE WSMP
• US: SAE Weather Info - WAVE WSMP
• US: Security Credentials - Secure Internet (ITS)

Project Operational Concepts:

Roles and Responsibilities

• FDOT CO
• Provide security and credentials management support and certificates for connected vehicle operations.


• FDOT District 3
• Install and operate field eqiupment for autonomous shuttle on US 98.


• Bay County Transit
• Operate autonomous shuttle on US 98.