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.
Highlights
A short review of the state of the art in Intelligent Transportation Systems (ITS) served as a motivation for the undertaken work, and it was followed by the presentation of the experimental platform, which consisted of a mobile
A short review of the state of the art in ITS served as a motivation for the undertaken work, and it was followed by the presentation of the experimental platform, which consisted of a mobile component and of a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC) premises in Madrid
A robust information acquisition architecture composed of a heterogeneous and complementary set of sensors was implemented and integrated on the platform in order to provide real-time monitoring and control of the multiple variables involved in the autonomous operation of the articulated bus
Summary
It is worth mentioning that at Ohio State University (OSU), a program running from 1964–1980 included studies on headway safety policy, longitudinal control, lateral control and highway system operations [2]. The interest in the Intelligent Vehicle Highway System (IVHS) was emphasized by the 1973–1979 projects funded by the Ministry of International Trade and Industry (MITI) of Japan [3].
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