Autonomous Driving Framework for Bus Transit Systems Towards Operation Safety and Robustness

Han，Fangzhou; Li，Dachuan; Hao，Qi

10.1109/ITSC.2019.8917408

2019-10-01

2153-0009

978-1-5386-7025-5

2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

2778-2784

27-30 Oct. 2019

83 Symonds St, Grafton, Auckland, New zealand

345 E 47TH ST, NEW YORK, NY 10017 USA

Institute of Electrical and Electronics Engineers Inc.

Autonomous driving buses for public transportation have significantly different technical specifications from autonomous driving cars in terms of size, kinematics, dynamics, and measures of safety. This paper presents an autonomous driving framework for public bus transit systems with the novelties of optimal sensor deployment, interactive and feasible motion planning, and fault-tolerant robust control. Optimization methods are developed for distributed sensor installation and sensor fusion. Both path planning and system control take into account the kinematic and dynamic constraints of buses as well as the intention and behavior of other road participants. The framework emphasizes the measures of safety at multiple levels. A 6-meter medium-size autonomous driving bus is under development using the proposed methods. Both simulation and experiment results have initially verified the effectiveness and advantages of the proposed framework.

Planning Vehicle dynamics Autonomous vehicles Safety Dynamics Robustness Roads

第一 ; 通讯

英语

EI ; CPCI-S

Science, Technology and Innovation Commission of Shenzhen Municipality[GJHZ20170314114424152]

Transportation

Transportation Science & Technology

WOS:000521238102132

20195207919947

Autonomous vehicles ; Buses ; Intelligent systems ; Intelligent vehicle highway systems ; Kinematics ; Motion planning ; Robust control

Automobile and Smaller Vehicle Components:662.4 ; Heavy Duty Motor Vehicles:663.1 ; Artificial Intelligence:723.4 ; Computer Applications:723.5 ; Automatic Control Principles and Applications:731 ; Mechanics:931.1

2-s2.0-85076818218

Scopus

Southern University of Science and Technology (SUSTech),SUSTech-Haylion Center for ITS,Department of Computer Science and Engineering,Shenzhen,China

Han，Fangzhou,Li，Dachuan,Hao，Qi. Autonomous Driving Framework for Bus Transit Systems Towards Operation Safety and Robustness[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:Institute of Electrical and Electronics Engineers Inc.,2019:2778-2784.