Florida ATMA Demonstration and Evalution

This project hosted a demonstration of the operation and function of the autonomous truck-mounted attenuator (ATMA) in a closed loop environment as well as in an active work zone. This will provide a hands-on opportunity for stakeholders to experience this state-of-the-art equipment. ATMA has the potential to reduce the risk involved in roadway construction and maintenance. The demonstration has also tested the feasibility of the technology and its application for falling weight deflectometer equipment. For more information, please contact Dr. Nithin Agarwal at nithin.agarwal@ufl.edu.

ATMA BC Tool

Benefit Cost (BC) Analysis Tool: A spreadsheet tool was developed as part of this study. Click the link below to download the BC tool.

Closed Loop Tests

TC1Automatic stop (A-Stop) - Leader Vehicle Internal Button (OCU)
TC2Emergency Stop - ATMA Internal Button (OCU)
TC3Emergency Stop ATMA External Button
TC4Emergency Stop – Leader Independent E-Stop Button (Initiator)
TC5Follow Distance Set by User Interface (UI) Panel
TC6Following Accuracy on Straight Line (A&H)
TC7Following Accuracy on Slalom Course (A&H)
TC8Lane Changing Accuracy (A&H)
TC9Lateral offset
TC10Minimum Turn Radius
TC11Simple Curve (A&H)
TC12Roundabouts
TC13U-turns
TC14Bump Test
TC15Obstacle Detection – FRONT
TC16Vehicle Intrusion
TC17Object Recognition
TC18Speed Test (A&H)
TC19Braking – Leader Vehicle (A&H)
TC20ATMA Human Driver Takeover (A&H)
TC21Leader Reverse
TC22Acceleration/Deceleration
TC23Loss of Sensor (RADAR, LIDAR)
TC24Loss of GPS
TC25Loss of Communication (Single V2V Radio)
TC26Loss of Communication (Both V2V Radios)

Field Loop Test Videos

FT1FDOT D-2 Gainesville Maintenance –

Closed Loop Tests listed above
FT2US-441

This is a rural/semi-urban high-speed environment with Low Traffic (Multi-lane), minimal/no signalized intersections or side streets.
Video #1 South Bound

Video #2 North Bound

FT3I-75


This site is an urban high-speed environment (Interstate) with high traffic (multilane). The operation on this site will be nighttime.
Video #1 (North Bound)


Video #2 (South Bound)


FT4SR-222
Video #1

FT5SR-26

The purpose of this test is to find out if it is possible to use ATMA on such a two-way two-lane road.
Video #1

FT6SW 2nd Ave

This segment was chosen to test the ATMA on various real-world roundabouts.
Video #1


FT7NE Waldo Road

TC 5

As an alternative to the test conducted on the closed loop this test was implemented on an open road, Waldo Road in Gainesville FL. This test focuses on measuring the time that it takes for ATMA to change its gap with the follower.
Video #1 (Run 1)

Video #2 (Run 2)

Video #3 (Run 3)

Video #4 (Run 4)

TC 18

This test was implemented on an open road, Waldo Road in Gainesville FL. This case wants to check the speed of ATMA in case it needs to reduce the gap after a commanded pause.
Video #1 (Run 1)

Video #2 (Run 2)

Video #3 (Run 3)

Video #4 (Run 4)

TC 20

The purpose of this test was to check if human driver can take-over the ATMA while operating.
Video #1


Closed Loop Test Videos

TC1Automatic stop (A-Stop) - Leader Vehicle Internal Button (OCU)

This test was designed to check the performance of ATMA in case the leader activates the A-stop button. This test was implemented on FDOT Closed Loop.
Video #1 (Run-1)


Video #2 (Run-2)



Video #3 (Run-3)

Video #4 (Run-4)


TC2Emergency Stop - ATMA Internal Button (OCU)

This test was designed to evaluate the performance of ATMA in case the operator inside activates the E-stop button. This test was implemented on FDOT Closed Loop with the speeds of 10 and 15 mph. The test was executed two times for each speed (total of four runs).

Video #1 (Run-1)



Video #2 (Run-2)



Video #3 (Run-3)


Video #4 (Run-4)


External Camera
Video #5 (Run- 1)

Video #6 (Run- 2)

Video #7 (Run- 4)



TC3Emergency Stop - ATMA External Button (OCU)

This test was performed on Closed Loop with speeds of 5 mph. There are two E-Stop buttons on the ATMA, one at each side. The test was executed two times by pressing each button (total of four runs).
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

External Camera
Video #5 (Run- 1)

Video #6 (Run- 2)

Video #7 (Run- 3)

Video #8 (Run- 4)

TC4Emergency Stop – Leader Internal Button

This test was implemented on closed Loop with speeds of 10 and 15 mph. The test was executed two times for each speed (total of four runs).
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

External Camera
Video #5 (Run- 1)

Video #6 (Run- 2)

Video #7 (Run- 3)

Video #8 (Run- 4)

Video #9 (Run- 5)

TC5Following Accuracy- Follow Distance Set by User Interface (UI) Panel

In the beginning test was executed on FDOT Closed Loop (CL) in a circular path. There was not enough distance available to execute the test appropriately. As an alternative, the test was implemented on an open road, Waldo Road in Gainesville FL. This test focuses on measuring the time that it takes for ATMA to change its gap with the follower. The user interface inside the leader vehicle includes a gap command to set the distance between leader and ATMA.
Video #1 (Test Information)

Video #2 (Run-1)

Video #3 (Run-2)

Video #4 - External Camera

TC6Following Accuracy on Straight Line

This test was designed to measure the accuracy of ATMA following the leader vehicle footprint on a straight path. The accuracy measure is CTE. This test was implemented on closed Loop with speeds of 10 and 15 mph.
Video #1 (Run-1)

Video #2 (Run- 2)

Video #3 (Run- 3)

Video #4 (Run- 4)

Video #5 (Run- 5)

Video #6 (Run- 6)

Video #7 (Run- 7)

Video #8 (Run- 8)

External Camera
Video #9 (Run- 1)

Video #10 (Run- 2)

Video #11 (Run- 3)

Video #12 (Run- 4)

Video #13 (Run- 5)

Video #14 (Run- 6)

Video #15 (Run- 7)

Video #16 (Run- 8)

TC7Following Accuracy on Slalom Course

This test was designed to measure the accuracy of ATMA following the leader vehicle footprint on a slalom course. The accuracy measure is CTE. This test was implemented on closed Loop with speeds of 10 and 15 mph.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)

Video #8 (Run-8)

Video #9 (Run-9)

Video #10 (Run-10)



Video #11 (Run-11)

Video #12 (Run-12)

Video #13 (Run-13)

Video #14 (Run-14)

Video #15 (Run-15)

External Camera
Video #16 (Run-1)

Video #17 (Run-2)

Video #18 (Run-3)

Video #19 (Run-4)

Video #20 (Run-5)

Video #21 (Run-6)

Video #22 (Run-7)

Video #23 (Run-8)

Video #24 (Run-9)

Video #25 (Run-10)

Video #26 (Run-11)

Video #27 (Run-12)

Video #28 (Run-13)

Video #29 (Run-14)

Video #30 (Run-15)

TC8Following Accuracy During Lane Change

This test was designed to measure the accuracy of ATMA following the leader vehicle footprint during a lane change.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)

Video #8 (Run-8)

Video #9 (Run-9)

Video #10 (Run-10)

Video #11 (Run-11)

Video #12 (Run-12

Video #13 (Run-13)

Video #14 (Run-14)

Video #15 (Run-16)

External Camera
Video #16 (Run-1)



Video #17 (Run-2)



Video #18 (Run-3)



Video #19 (Run-4)

Video #20 (Run-5)

Video #21 (Run-6)

Video #22 (Run-7)

Video #23 (Run-8)

Video #24 (Run-1H)

Video #25 (Run-2H)

Video #26 (Run-3H)

Video #27 (Run-4H)

Video #28 (Run-5H)

Video #29 (Run-6H)

Video #30 (Run-7H)

Video #31 (Run-8H)

TC9Lateral Offset Test

After rolling out and stabilizing the gap of 100’, the operator inside the leader vehicle changed the commanded offset. After reaching the offset, the offset was measured on the field.
Video #1 (Process Information)

Video #2 (Run-1)

Video #3 (Run-2)

External Camera
Video #4 (Run- 1)

Video #5 (Run-2)

TC10Minimum Turn Radius Test

To find the minimum radius, the cones were set up in a U-turn shape. The internal radius was selected as 25’ and the radius was increased incrementally by 5’.
Video #1 (Run-1)

Video #2 (Run-2)



Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)

Video #8 (Run-8)

TC11Simple Curve

This test was executed in closed loop. The purpose of this test was to measure CTE on a simple curve.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

TC12Roundabouts
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)

Video #8 (Run-8)

TC14Bump Test

This video is an example case of ATMA's performance on a bump. This test was not conducted solely, rather the video shows one of the very few cases where ATMA stopped due to ditch.
Video #1 (Example-1)

Video #1 (Example-2)

TC15Obstacle Detection

This test was designed to figure out how the ATMA acts in case of facing an obstacle. In this test two different obstacles were tested as seen in the video.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)

Video #8 (Run-8)

Video #9 (Run-9)

External Camera
Video #10 (Run-1)

Video #11 (Run-2)

Video #12 (Run-3)

Video #13 (Run-4)

Video #14 (Run-5)



Video #15 (Run-8)

Video #16 (Run-9)

Video #17 (Run-10)

TC16Vehicle intrusion

This test was designed to figure out how the ATMA actions in case of a vehicle intrusion between the leader and follower vehicles.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

External Camera
Video #6 (Run-1)

Video #7 (Run-2)

Video #8 (Run-3)



Video #9 (Run-4)

Video #10 (Run-5)

TC17Object Recognition

This test was designed to figure out if the ATMA recognizes the vehicles and objects in adjacent lane.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

External Camera
Video #5 (Run-1)

Video #6 (Run-2)

Video #7 (Run-3)

Video #8 (Run-4)

TC19Leader Vehicle Braking

This test was carried to check ATMA’s operation while the leader vehicle brakes and stops.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

Video #4 (Run-4)

Video #5 (Run-5)

Video #6 (Run-6)

Video #7 (Run-7)


Video #8 (Run-8)

Video #9 (Run-9)


Video #10 (Run-10)

TC21Leader Reverse

Test case 21 aimed to check the operation of ATMA in case the leader backs up.
Video #1 (Run-1)

Video #2 (Run-2)

External Camera
Video #3 (Run-1)

Video #4 (Run-2)

TC22Acceleration/Deceleration

Test case 22 measured the time it takes to accelerate from 5 to 15 mph, and decelerate from 15 to 5 mph.
Video #1 (Run-1)

Video #2 (Run-2)

Video #3 (Run-3)

TC23Loss of Radar, and Lidar sensors.

This test was designed to evaluate the ATMA performance in case of communication loss by radar
Video #1 Radar (Run-1)

VIdeo #2 Lidar (Run- 1)

Video #3 Lidar (Run 2)

TC24Loss of GPS signal

This test was designed to evaluate the ATMA performance in case of GPS loss.
Video #1 ATMA GPS (Run-1)

Video #2 ATMA GPS (Run-2)

Video #3 ATMA GPS(Run- 3)

Video #4 Leader GPS (Run- 4)

Video #5 Leader GPS (Run- 5)

TC25Loss of Communication (Single V2V Radio)

This test was designed to evaluate the ATMA performance in case of one of V2V communication losses.
Video #1 (Run- 1)

Video #2 (Run- 2)

TC26Loss of Communication (Both V2V Radio)

This test was designed to evaluate the ATMA performance in case of one of main and redundant V2V communication losses.
Video #1 (Run- 1)

Video #2 (Run- 2)