An experimental platform for autonomous bus development
Identifiers
Permanent link (URI): http://hdl.handle.net/10017/59769DOI: 10.3390/app7111131
ISSN: 2076-3417
Publisher
MDPI
Date
2017-11-02Funders
Comunidad de Madrid
Consejo Superior de Investigaciones Científicas
Bibliographic citation
Montes, H., Salinas, C., Fernández, R. & Armada, M. 2017, "An experimental platform for autonomous bus development", Applied Sciences, vol. 7, no. 11, art. no. 1131, pp. 1-22.
Keywords
Intelligent Transportation Systems (ITS)
Bus Rapid Transit (BRT)
Autonomous driving
Autonomous bus
Automatic vehicle control
Lateral control
Longitudinal control
Obstacle detection
Human machine interface
Project
PIE/62/2008 IMADE (Comunidad de Madrid)
info:eu-repo/grantAgreement/CAM//S2013%2FMIT-2748/ES/ROBOTICA APLICADA A LA MEJORA DE LA CALIDAD DE VIDA DE LOS CIUDADANOS, FASE III/RoboCity2030-III-CM
PI-2016-50E050 ROBSEN-Robotica y Sensores para los Retos Sociales (CSIC)
Document type
info:eu-repo/semantics/article
Version
info:eu-repo/semantics/publishedVersion
Publisher's version
https://doi.org/10.3390/app7111131Rights
Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
© 2017 The authors
Access rights
info:eu-repo/semantics/openAccess
Abstract
Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possible to foresee an important advance in the field of autonomous and/or semi-autonomous transportation systems. Intelligent Transport Systems (ITS) have been subjected to very active research for many years, and Bus Rapid Transit (BRT) is one area of major interest. Among the most promising transport infrastructures, the articulated bus is an interesting, low cost, high occupancy capacity and friendly option. In this paper, an experimental platform for research on the automatic control of an articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technological developments and control algorithms. The experimental platform consists of a mobile component (a commercial articulated bus) fully instrumented and a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC) premises. This paper focuses also on the development of a human machine interface to ease progress in control system evaluation. Some experimental results are presented in order to show the potential of the proposed platform.
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