Automated Driving Systems (ADS) Operational Behavior and Traffic Regulations Information – Proof-of-Concept Demonstration Report

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U.S. Department of Transportation
Federal Highway Administration
Office of Operations
1200 New Jersey Avenue, SE
Washington, DC 20590
ops.fhwa.dot.gov

December 2021

FHWA-HOP-21-040

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Table of Contents

[ Forward ] [ Notice and Quality Assurance Statement ] [ Technical Report Documentation Page ] [ SI Modern Metric Conversion Factors ] [ List of Acronyms ]

CHAPTER 1. INTRODUCTION
	Background
	Purpose
CHAPTER 2. TRAFFIC REGULATIONS DATA FRAMEWORK
	Objective
	Regulations Data Framework
		Challenges and Limitations on Framework Design
		Design Features and Attributes
		Blockchain Implementation
	Prototype User Interface
		Administrative User Interface
		End-user Interface
	Prototype Application Programming Interface
	Prototype Framework Repository
CHAPTER 3. PROOF-OF-CONCEPT DEMONSTRATION
	Objective
	Simulation Platform – CARLA
	Simulation Testing Workflow and Interfaces
		Access Regulation Data
		Maintain a Regulation List for the Current Location
		Generate Regulation Action Vector for Automated Driving System Regulations
		Vectorize the Vehicle’s Intention as Intention Action Vector
		Determine the Vehicle Behavior’s Legality
	Testing Scenarios and Results
		Demonstration Workflow
	Automated Driving System Testing Results
		Intersection Right Turn on Red
		Freeway Left Lane Use
	Simulation Repository

List of Figures

Figure 1. Illustration. Automated driving systems regulations data concepts

Figure 2. Screen Capture. Automated driving systems regulations user interface home screen and login

Figure 3. Screen Capture. Automated driving systems regulations user interface for addition of a new jurisdiction

Figure 4. Screen Capture. Automated driving systems regulations user interface for addition of regulatory references

Figure 5. Screen Capture. Automated driving systems regulations user interface for addition of situational instructions

Figure 6. Screen Capture. Automated driving systems regulations user interface for addition of situations

Figure 7. Screen Capture. Automated driving systems regulations user interface for addition of traffic control device types

Figure 8. Screen Capture. Automated driving systems regulations user interface displaying jurisdictions and instructions (sections)

Figure 9. Screen Capture. Automated driving systems regulations user interface displaying the text of regulations

Figure 10. Screen Capture. Automated driving systems regulations user interface displaying the association of situations with jurisdictions

Figure 11. Screen Capture. Automated driving systems regulations user interface displaying the text of regulations for a particular jurisdiction and situation

Figure 12. Screen Capture. Automated driving systems regulations user interface displaying the association of jurisdictions and traffic control types

Figure 13. Screen Capture. Automated driving systems regulations user interface displaying a traffic control image associated with a jurisdiction

Figure 14. Illustration. CARLA Core Simulator and Python® application programming interfaces

Figure 15. Illustration. Automated driving system latform architecture with traffic regulations database

Figure 16. Diagram. Workflow for accessing regulations data

Figure 17. Diagram. Workflow for maintaining legal regulation list in automated driving systems for current vehicle location

Figure 18. Diagram. Generate regulation action vector for automated driving system regulations

Figure 19. Diagram. Vectorize the vehicle’s intention as an intention action vector

Figure 20. Diagram. Workflow for determining the vehicle behavior’s legality

Figure 21. Illustration. Intersection right-turn-on-red demonstration

Figure 22. Illustration. Freeway overtaking demonstration