Lateral and longitudinal control system for the automation of an articulated bus

Abstract

The development of automated vehicles has been the subject of important research activities, where control systems play a very relevant role [1]. By other side, the interest of new, safer, more reliable, mass transportation systems is of growing interest, leading to Intelligent Transport Systems (ITS) [2-3]. Control of vehicle dynamics has been increasingly investigated over the last 15-20 years [4-8]. In addition, several lateral and longitudinal control designs are documented in the literature [9-11]. Bus Rapid Transit systems are a promising transportation system that is becoming very popular and their automation is of major relevance [2]. In this paper an experimental platform for research on automatic control of articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technology developments and control algorithms. Platform consists in an articulated bus, Volvo BM10, fully instrumented and in a ground test area composed of asphalt roads inside CSIC premises [9]. In addition, some experimental results of lateral and longitudinal control for the automation of the articulated bus are presented, when the vehicle follow the test lane.