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| Test ID | Videos of each run corresponding to the test | |
|---|---|---|
| TC1 | Automatic 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. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| TC2 | Emergency 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). |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| External Camera | ||
| Video #5 (Run- 1) | Video #6 (Run- 2) |
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| Video #7 (Run- 4) | ||
| TC3 | Emergency 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). |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| External Camera | ||
| Video #5 (Run- 1) | Video #6 (Run- 2) |
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| Video #7 (Run- 3) | Video #8 (Run- 4) |
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| TC4 | Emergency 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). |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| External Camera | ||
| Video #5 (Run- 1) | Video #6 (Run- 2) |
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| Video #7 (Run- 3) | Video #8 (Run- 4) |
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| Video #9 (Run- 5) | ||
| TC5 | Following 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. |
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| Video #1 (Test Information) | Video #2 (Run-1) |
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| Video #3 (Run-2) | Video #4 - External Camera |
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| TC6 | Following 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. |
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| Video #1 (Run-1) | Video #2 (Run- 2) |
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| Video #3 (Run- 3) | Video #4 (Run- 4) |
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| Video #5 (Run- 5) | Video #6 (Run- 6) |
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| Video #7 (Run- 7) | Video #8 (Run- 8) |
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| External Camera | ||
| Video #9 (Run- 1) | Video #10 (Run- 2) |
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| Video #11 (Run- 3) | Video #12 (Run- 4) |
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| Video #13 (Run- 5) | Video #14 (Run- 6) |
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| Video #15 (Run- 7) | Video #16 (Run- 8) |
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| TC7 | Following 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. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| Video #9 (Run-9) | Video #10 (Run-10) |
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| Video #11 (Run-11) | Video #12 (Run-12) |
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| Video #13 (Run-13) | Video #14 (Run-14) |
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| Video #15 (Run-15) | ||
| External Camera | ||
| Video #16 (Run-1) | Video #17 (Run-2) |
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| Video #18 (Run-3) | Video #19 (Run-4) |
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| Video #20 (Run-5) | Video #21 (Run-6) |
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| Video #22 (Run-7) | Video #23 (Run-8) |
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| Video #24 (Run-9) | Video #25 (Run-10) |
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| Video #26 (Run-11) | Video #27 (Run-12) |
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| Video #28 (Run-13) | Video #29 (Run-14) |
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| Video #30 (Run-15) | ||
| TC8 | Following Accuracy During Lane Change This test was designed to measure the accuracy of ATMA following the leader vehicle footprint during a lane change. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| Video #9 (Run-9) | Video #10 (Run-10) |
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| Video #11 (Run-11) | Video #12 (Run-12 |
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| Video #13 (Run-13) | Video #14 (Run-14) |
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| Video #15 (Run-16) | ||
| External Camera | ||
| Video #16 (Run-1) | Video #17 (Run-2) |
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| Video #18 (Run-3) | Video #19 (Run-4) |
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| Video #20 (Run-5) | Video #21 (Run-6) |
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| Video #22 (Run-7) | Video #23 (Run-8) |
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| Video #24 (Run-1H) | Video #25 (Run-2H) |
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| Video #26 (Run-3H) | Video #27 (Run-4H) |
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| Video #28 (Run-5H) | Video #29 (Run-6H) |
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| Video #30 (Run-7H) | Video #31 (Run-8H) |
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| TC9 | Lateral 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. |
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| Video #1 (Process Information) | Video #2 (Run-1) |
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| Video #3 (Run-2) | ||
| External Camera | ||
| Video #4 (Run- 1) | Video #5 (Run-2) |
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| TC10 | Minimum 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’. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| TC11 | Simple Curve This test was executed in closed loop. The purpose of this test was to measure CTE on a simple curve. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| TC12 | Roundabouts | |
| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| TC14 | Bump 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. |
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| Video #1 (Example-1) | Video #1 (Example-2) |
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| TC15 | Obstacle 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. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| Video #9 (Run-9) | ||
| External Camera | ||
| Video #10 (Run-1) | Video #11 (Run-2) |
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| Video #12 (Run-3) | Video #13 (Run-4) |
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| Video #14 (Run-5) | Video #15 (Run-8) |
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| Video #16 (Run-9) | Video #17 (Run-10) |
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| TC16 | Vehicle intrusion This test was designed to figure out how the ATMA actions in case of a vehicle intrusion between the leader and follower vehicles. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | ||
| External Camera | ||
| Video #6 (Run-1) | Video #7 (Run-2) |
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| Video #8 (Run-3) | Video #9 (Run-4) |
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| Video #10 (Run-5) | ||
| TC17 | Object Recognition This test was designed to figure out if the ATMA recognizes the vehicles and objects in adjacent lane. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| External Camera | ||
| Video #5 (Run-1) | Video #6 (Run-2) |
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| Video #7 (Run-3) | Video #8 (Run-4) |
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| TC19 | Leader Vehicle Braking This test was carried to check ATMA’s operation while the leader vehicle brakes and stops. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | Video #4 (Run-4) |
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| Video #5 (Run-5) | Video #6 (Run-6) |
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| Video #7 (Run-7) | Video #8 (Run-8) |
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| Video #9 (Run-9) | Video #10 (Run-10) |
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| TC21 | Leader Reverse Test case 21 aimed to check the operation of ATMA in case the leader backs up. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| External Camera | ||
| Video #3 (Run-1) | Video #4 (Run-2) |
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| TC22 | Acceleration/Deceleration Test case 22 measured the time it takes to accelerate from 5 to 15 mph, and decelerate from 15 to 5 mph. |
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| Video #1 (Run-1) | Video #2 (Run-2) |
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| Video #3 (Run-3) | ||
| TC23 | Loss of Radar, and Lidar sensors. This test was designed to evaluate the ATMA performance in case of communication loss by radar |
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| Video #1 Radar (Run-1) | VIdeo #2 Lidar (Run- 1) |
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| Video #3 Lidar (Run 2) | ||
| TC24 | Loss of GPS signal This test was designed to evaluate the ATMA performance in case of GPS loss. |
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| Video #1 ATMA GPS (Run-1) | Video #2 ATMA GPS (Run-2) |
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| Video #3 ATMA GPS(Run- 3) | Video #4 Leader GPS (Run- 4) |
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| Video #5 Leader GPS (Run- 5) | ||
| TC25 | Loss of Communication (Single V2V Radio) This test was designed to evaluate the ATMA performance in case of one of V2V communication losses. |
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| Video #1 (Run- 1) | Video #2 (Run- 2) |
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| TC26 | Loss 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. |
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| Video #1 (Run- 1) | Video #2 (Run- 2) |
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