Broward County Transit Connected and Autonomous Vehicle System

Project Description: This project will add connected or autonomous vehicles to the Broward County Transit services.

Project Status: Planned

Project Stakeholders:

• Broward County Public Works and Transportation Administration
• Broward County Transit
• FDOT CO

Project Service Packages:

• VS16: Automated Vehicle Operations (Broward County)
• SU04: Map Management (Broward County Transit CAV)
• SU08: Security and Credentials Management (Broward County Transit CAV)
• SU09: Device Certification and Enrollment (Broward County Transit CAV)

Project Information Flows:

Information Flow	Source Element	Destination Element	Status
device enrollment information	BCT Fixed Route Vehicles	FDOT SCMS	Planned
device enrollment information	Broward County CAV Field Equipment	FDOT SCMS	Planned
enrollment credentials	FDOT SCMS	BCT Fixed Route Vehicles	Planned
enrollment credentials	FDOT SCMS	Broward County CAV Field Equipment	Planned
intersection geometry	Broward County CAV Field Equipment	BCT Fixed Route Vehicles	Planned
intersection geometry	CAV-ITS Map Update System	Broward County CAV Field Equipment	Planned
map updates	CAV-ITS Map Update System	Broward County CAV Field Equipment	Planned
misbehavior report	BCT Fixed Route Vehicles	FDOT SCMS	Planned
misbehavior report	Broward County CAV Field Equipment	FDOT SCMS	Planned
roadway geometry	CAV-ITS Map Update System	Broward County CAV Field Equipment	Planned
security credential revocations	FDOT SCMS	BCT Fixed Route Vehicles	Planned
security credential revocations	FDOT SCMS	Broward County CAV Field Equipment	Planned
security credentials	FDOT SCMS	BCT Fixed Route Vehicles	Planned
security credentials	FDOT SCMS	Broward County CAV Field Equipment	Planned
security policy and networking information	FDOT SCMS	BCT Fixed Route Vehicles	Planned
security policy and networking information	FDOT SCMS	Broward County CAV Field Equipment	Planned
vehicle location and motion	BCT Fixed Route Vehicles	Broward County CAV Field Equipment	Planned
vehicle location data for mapping	Broward County CAV Field Equipment	CAV-ITS Map Update System	Planned
vehicle profile	BCT Fixed Route Vehicles	Broward County CAV Field Equipment	Planned

Project Functional Requirements (Element - Functional Object):

• BCT Fixed Route 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.


• BCT Fixed Route 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.


• BCT Fixed Route 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.


• BCT Fixed Route 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.


• BCT Fixed Route Vehicles - Vehicle Map Management
• 1: The Vehicle shall make basemap, roadway geometry, intersection geometry and parking facility geometry information available to other onboard vehicle applications.
• 3: The Vehicle shall obtain roadway geometry update information from proximate Connected Vehicle Roadside Equipment.
• 4: The Vehicle shall obtain intersection geometry update information from proximate Connected Vehicle Roadside Equipment.


• BCT Fixed Route 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.


• Broward 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.


• Broward 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.


• Broward County CAV Field Equipment - RSE Map Management
• 1: The field element shall collect broadcasted vehicle location and motion information.
• 10: The field element shall provide intersection geometry updates to proximate Vehicles.
• 12: The field element shall provide roadway geometry updates to proximate Vehicles.
• 3: The field element shall provide roadway geometry update information to proximate Vehicles.
• 5: The field element shall provide intersection geometry update information to proximate Vehicles.
• 9: The field element shall provide basemap updates to proximate Vehicles.


• CAV-ITS Map Update System - Map Management
• 13: The Center shall provide intersection geometry updates to other Centers.
• 18: The Center shall provide intersection geometry updates to Connected Vehicle Roadside Equipment.
• 19: The Center shall provide roadway geometry updates to Connected Vehicle Roadside Equipment.


• 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.
• 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.


• 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.


• 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.


• 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.

Standards:

• (None-Data) - Secure Internet (ITS)
• US: Device enrollment - Secure Internet (ITS)
• US: Misbehavior reporting - Secure Internet (ITS)
• US: SAE J3067 (J2735 SE) - LTE-V2X WSMP
• US: SAE Lane-Level Mapping - Secure Internet (ITS)
• US: SAE LTE-V2X BSM - LTE-V2X WSMP
• US: SAE Other J2735 - Secure Internet (ITS)
• US: SAE Signal Control Messages - LTE-V2X WSMP
• US: Security Credentials - Secure Internet (ITS)

Project Operational Concepts:

Roles and Responsibilities

• Broward County Public Works and Transportation Administration
• Install and maintain connected vehicle field equipment along roadway.


• Broward County Transit
• Install and maintain connected vehicle equipment on transit vehicles.


• FDOT CO
• Provide SCMS services.