Inicio  /  Future Internet  /  Vol: 10 Núm: 6 Par: June (2018)  /  Artículo
ARTÍCULO
TITULO

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

Lingli Yu    
Decheng Kong and Xiaoxin Yan    

Resumen

A framework of path planning for autonomous electric bus is presented. ArcGIS platform is utilized for map-building and global path planning. Firstly, a high-precision map is built based on GPS in ArcGIS for global planning. Then the global optimal path is obtained by network analysis tool in ArcGIS. To facilitate local planning, WGS-84 coordinates in the map are converted to local coordinates. Secondly, a double-layer finite state machine (FSM) is devised to plan driving behavior under different driving scenarios, such as structured driving, lane changing, turning, and so on. Besides, local optimal trajectory is generated by cubic polynomial, which takes full account of the safety and kinetics of the electric bus. Finally, the simulation results show that the framework is reliable and feasible for driving behavior planning and trajectory generation. Furthermore, its validity is proven with an autonomous bus platform 12 m in length.

 Artículos similares

       
 
Mahdi Alizadeh, Seyed Rasoul Davoodi and Khaled Shaaban    
Speeding in residential areas is a rampant high-risk driving behavior that occurs worldwide. This study investigated the intention and behavior of speeding in residential streets (with a speed limit of 30 km/h) in Iran based on the Theory of extended Pla... ver más
Revista: Infrastructures

 
Xiaohong Yin, Jun Song and Qiang Liu    
The carbon-neutral behavior of building construction companies is a key issue in carbon-neutral research worldwide. However, little is known about the willingness of construction firms to segregate and recycle construction waste. After studying a large a... ver más
Revista: Buildings

 
Xinyu Tian, Qinghe Zheng, Zhiguo Yu, Mingqiang Yang, Yao Ding, Abdussalam Elhanashi, Sergio Saponara and Kidiyo Kpalma    
At present, the design of modern vehicles requires improving driving performance while meeting emission standards, leading to increasingly complex power systems. In autonomous driving systems, accurate, real-time vehicle speed prediction is one of the ke... ver más

 
Guan-Yuan Zhao, Li Zhu, Wei Liu, Jia-Cheng Zhao and Jin-Xin Huo    
The group studs arrangement is applied to prefabricated composite beams to significantly improve construction speed. However, contact vibration exists in the unconstrained interface area of the high-speed railway composite beam during the operation perio... ver más
Revista: Buildings

 
Khaled Shaaban and Mohammed Alsoub    
Developing countries are continuously upgrading their transportation systems. The latest improvement in Qatar, a fast-developing country in the Middle East, was the installation of dynamic message signs (DMS) and lane control signs (LCS). These signs wer... ver más
Revista: Infrastructures