Ever since the first one, in Curitiba Brazil. It includes both a local system that is something of an advanced bus version of a metro and an express system that takes passengers to and from the distant suburbs, quickly. Of course BRT systems have not been built equal since then. And from the information I've seen so far the system they've proposed on Gratiot and elsewhere in metro Detroit is nothing more than an express bus system with BRT in its name. But it is intended to be a regional/commuter system.
The Guardian wrote a great article about the system in Curitiba:
https://www.theguardian.com/cities/2...s-50-buildings
More info, including system maps, here:
https://en.wikipedia.org/wiki/Rede_I..._de_Transporte
P.S.: Confusingly, the "Expresso" system are not in fact the express / regional buses. The "Direta" system shows those. Similarly, on doors all over Brazil you'll see an instruction: "puxe", pronounced "push". It means "pull".
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