Consider examining the textbook from Bern Grush and CATES co-founder John Niles, The End of Driving: Transportation Systems and Public Policy Planning for Autonomous Vehicles (Elsevier, 2018), with several chapters arising from the CATES experience. Click for chapter summaries.
Description of CATES automated vehicle deployment project in City of SeaTac, Washington. A partnership for implementation is being planned with King County Metro and ACES Northwest Network. Further implementation pending acquisition of external funding in cooperation with the partners. The SeaTac City Council in October 2018 voted Resolution 18-014 in support of going further with this project, given further funding.