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Path Planning for Autonomous Bus Driving in Urban Environments [article]

Rui Oliveira, Pedro F. Lima, Gonçalo Collares Pereira, Jonas Mårtensson, Bo Wahlberg
2019 arXiv   pre-print
Driving in urban environments often presents difficult situations that require expert maneuvering of a vehicle.  ...  We present a path planning framework that addresses the demanding driving task of buses in urban areas. The approach is formulated as an optimization problem using the road-aligned vehicle model.  ...  CONCLUSIONS We present a novel path planning framework targeted for buses driving in urban environments.  ... 
arXiv:1905.01683v1 fatcat:n6ayqclplvgn5mjbu3irdrdvem

PROUD-Public road urban driverless test: Architecture and results

Alberto Broggi, Pietro Cerri, Stefano Debattisti, Maria Chiara Laghi, Paolo Medici, Matteo Panciroli, Antonio Prioletti
2014 2014 IEEE Intelligent Vehicles Symposium Proceedings  
In the last 10 years, autonomous prototypes have been confined in controlled or isolated environments, but new traffic regulations for testing and direct automotive companies interests are moving autonomous  ...  This paper presents a test on public urban roads and freeways that was held in Parma on July 12, 2013.  ...  to demonstrate that autonomous urban driving is solved.  ... 
doi:10.1109/ivs.2014.6856478 dblp:conf/ivs/BroggiCDLMPP14 fatcat:efgoe3vddrb6rdrwd7bpvgnx6i

Motion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment

Jiajia Chen, Pan Zhao, Huawei Liang, Tao Mei
2014 Sensors  
Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints  ...  This paper presents a motion planning method, based on the Radial Basis Function (RBF) neural network, to guide the autonomous vehicle in unstructured environments.  ...  HuaWei Liang and Tao Mei made substantial contributions in the plan and design of the experiments. Jiajia Chen was responsible for the writing of the article.  ... 
doi:10.3390/s140917548 pmid:25237902 pmcid:PMC4208238 fatcat:khcqqlstqnflrlbwoxu2snzpdu

A Driving Behavior Planning and Trajectory Generation Method for Autonomous Electric Bus

Lingli Yu, Decheng Kong, Xiaoxin Yan
2018 Future Internet  
A framework of path planning for autonomous electric bus is presented. ArcGIS platform is utilized for map-building and global path planning.  ...  Furthermore, its validity is proven with an autonomous bus platform 12 m in length.  ...  Compared with unmanned cars, autonomous busses drive on relatively fixed routes, at relatively slow speeds, and for shorter distances in urban areas.  ... 
doi:10.3390/fi10060051 fatcat:l4mth46yozdv7b7shv3czg3gma

Use-case Generation and Analysis for Autonomous Driving in Urban Areas

Takuya Nanri, Fang Fang, Abdelaziz Khiat
2021 International Journal of Automotive Engineering  
Contributions: Our contributions are summarized in the following four points: Firstly, the proposed approach generates use-cases for autonomous driving in urban areas considering completeness.  ...  Being able to generate adequate test scenarios in order to validate autonomous driving functions is of paramount importance for the deployment of autonomous vehicles.  ...  Acknowledgement The authors would like to thank Alexandre Armand and Javier Ibañez-Guzmán for the simulating discussions.  ... 
doi:10.20485/jsaeijae.12.2_54 fatcat:lzquld2q4ffcnpracrbujhxege

Self-adaptive Motion Prediction-based Proactive Motion Planning for Autonomous Driving in Urban Environments

Yonghwan Jeong
2021 IEEE Access  
In the motion-planning field of autonomous driving, various approaches have been attempted to determine the desired motion of autonomous vehicles in urban environments. For example, Kolski et al.  ...  regions in order to develop an autonomous driving algorithm for urban roads.  ... 
doi:10.1109/access.2021.3100590 fatcat:jbymdzpqu5g5bky4yh7rsxqg3e

Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Il Bae, Jaeyoung Moon, Jeongseok Seo
2019 Electronics  
The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.  ...  The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical  ...  In the case of a self-driving shuttle bus, there is a lack of flexibility in dynamic path planning because the self-driving bus must follow a pre-defined path as a public transit vehicle in an urban situation  ... 
doi:10.3390/electronics8090943 fatcat:eulj32di55coxf4vhdbhvpc3ne

Autonomous electric commercial vehicle for difficult operating conditions

D V Zeziulin, D Yu Tyugin, K M Shashkina, V A Kuzmichev, P O Beresnev
2018 IOP Conference Series: Materials Science and Engineering  
The working components of the autonomous vehicle driving control system, its location and the area of operation are considered in the article.  ...  The control system in question is developed for operation in severe weather and road conditions of the Russian Federation. An electrical platform is used as chassis for the control system.  ...  Although this platform is the base for a wide range of GAZ commercial vehicles, we chose a bus to implement our autonomous vehicle driving control system.  ... 
doi:10.1088/1757-899x/386/1/012003 fatcat:vqan5aqdvbhlpopfaemyrwuphq

A Research Platform for Autonomous Vehicles Technologies Research in the Insurance Sector

Miguel Ángel de Miguel, Francisco Miguel Moreno, Pablo Marín-Plaza, Abdulla Al-Kaff, Martín Palos, David Martín, Rodrigo Encinar-Martín, Fernando García
2020 Applied Sciences  
This work presents a novel platform for autonomous vehicle technologies research for the insurance sector.  ...  Some use cases that validate the technologies presented in the platform are also presented; these use cases include public demonstrations, tests of the technologies and international competitions for self-driving  ...  The CARLA simulator is an open-source autonomous car simulator specialized in urban environments [24] .  ... 
doi:10.3390/app10165655 fatcat:yxg4yn6v3vfpxd2cy4piihmcgi

Clothoid: An Integrated Hierarchical Framework for Autonomous Driving in a Dynamic Urban Environment

Saba Arshad, Muhammad Sualeh, Dohyeong Kim, Dinh Van Nam, Gon-Woo Kim
2020 Sensors  
The proposed framework enables obstacle avoidance, pedestrian safety, object detection, road blockage avoidance, path planning for single-lane and multi-lane routes, and safe driving of vehicles throughout  ...  This research presents Clothoid, a unified framework for fully autonomous vehicles, that integrates the modules of HD mapping, localization, environmental perception, path planning, and control while considering  ...  Introduction At the highest level of autonomy, the desired goal is to develop a fully autonomous vehicle that can drive in the dynamic urban environment.  ... 
doi:10.3390/s20185053 pmid:32899543 pmcid:PMC7570716 fatcat:xa5dhrmg5vdjbmgb4shlhovcvm

Transportation of Goods in Inner-City Centers: Can Autonomous Vehicles in Platoon Be a Suitable Solution?

Franck Gechter, El-Hassane Aglzim, Sidi-Mohammed Senouci, Nathalie Rodet-Kroichvili, Cindy Cappelle, Didier Fass
2017 2017 IEEE Vehicle Power and Propulsion Conference (VPPC)  
The transportation of goods in inner-city centers has become a huge challenge for cities that want to ensure a reliable and efficient service for good delivery with less socioeconomic and ecological impacts  ...  The new opportunities brought by the development of automated functions for vehicles leads to a restructuring of the possible services.  ...  Historically, driving in convoy was deployed in the United States under the PATH project (Partners for Advanced Transit and Highways) in 1990-1995.  ... 
doi:10.1109/vppc.2017.8330913 fatcat:jpp5en2pqfclpimbj6zkrjegu4

Economic Solution of the Tri-Generation System Using Photovoltaic-Thermal and Ground Source Heat Pump for Zero Energy Building (ZEB) Realization

Sangmu Bae, Yujin Nam, Ivor da Cunha
2019 Energies  
In this study, in order to find an economic solution of a tri-generation system for the realization of ZEB, the simulation model using the dynamic energy analysis code was constructed and a feasibility  ...  Moreover, the conventional design method and the design method for ZEB realization were proposed, and the return on investment (ROI) was calculated according to four local conditions and two design methods  ...  In the case of a self-driving shuttle bus, there is a lack of flexibility in dynamic path planning because the self-driving bus must follow a pre-defined path as a public transit vehicle in an urban situation  ... 
doi:10.3390/en12173304 fatcat:2lot3hb7w5cb7icsjrfhijf4ni

Autonomous driving, the built environment and policy implications

Eva Fraedrich, Dirk Heinrichs, Francisco J. Bahamonde-Birke, Rita Cyganski
2018 Transportation Research Part A: Policy and Practice  
This article seeks to clarify how autonomous vehicles (AV) could affect urban planning and the built environment, to what extent these effects are compatible with municipalities' existing objectives, and  ...  The paper combines a systematic review of the literature, a quantitative online survey and qualitative interviews with representatives from urban transport planning authorities in Germany.  ...  This requires placing the debate on autonomous driving, the built environment and the policy implications in a wider urban development context.  ... 
doi:10.1016/j.tra.2018.02.018 fatcat:ctxjshqzfnayxbln73fvbjhho4

Autonomous Navigation and Obstacle Avoidance of a Micro-Bus

Carlos Fernández, Raúl Domínguez, David Fernández-Llorca, Javier Alonso, Miguel A. Sotelo
2013 International Journal of Advanced Robotic Systems  
A total of 28 laps were successfully completed in full autonomous mode in a private circuit located in the National Institute for Aerospace Research (INTA), Spain.  ...  In other words, the system completed 20.3 km of driverless navigation and obstacle avoidance.  ...  We also thank the IEEE IVS 2012 organizers for their support.  ... 
doi:10.5772/56125 fatcat:hznjidbea5dovoldlltfdiquh4

2019 Index IEEE Transactions on Intelligent Transportation Systems Vol. 20

2019 IEEE transactions on intelligent transportation systems (Print)  
., +, TITS April 2019 1365-1377 Path planning A Localizability Constraint-Based Path Planning Method for Autonomous Vehicles.  ...  ., +, TITS Jan. 2019 297-312 A Localizability Constraint-Based Path Planning Method for Autonomous Vehicles.  ... 
doi:10.1109/tits.2020.2966388 fatcat:xkvww7uabzhlzgfz3yiecyb75y
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