Cooperative driving automation (CDA) applications are expected to be enabled by the increasing penetration of Cooperative Automated Driving System (C-ADS) equipped vehicles, particularly fleet-operated ADS-dedicated vehicles (ADS-DVs) in urban areas (both ride-hailing and delivery fleets). These C-ADS equipped vehicles (i.e., SAE Levels 3-5 driving automation) may operate on signalized arterial roadways Infrastructure Owners/Operators (IOOs) are also being encouraged through federal policy to equip signalized intersections with technology to provide information that could be used to support CDA applications. These applications can operate with greater safety and efficiency with cooperative intersection infrastructure.
Rationale: This report will develop a concept of operations to evaluate a cooperative intersection management application for permissive left-turns with all C-ADS equipped vehicles. This work will focus on a C-ADS equipped vehicle making a permissive left-turn while communicating with other equipped vehicles and the cooperative intersection infrastructure. The intersection infrastructure can collect more comprehensive data from vehicles and infrastructure detection (e.g., machine vision, LiDAR, presence/system detectors, etc.). The safety and efficiency of this left-turn maneuver can be enhanced by cooperative infrastructure that informs of vehicle presence where there are gaps in line of sight and confirmation of gap clearance. The cooperative infrastructure data enables agreement seeking among vehicles and infrastructure to safely completing the left turn.
