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Future Internet 2018, 10(6), 51; https://doi.org/10.3390/fi10060051

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

School of Information Science and Engineering, Central South University, Changsha 410083, China
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Received: 6 May 2018 / Revised: 4 June 2018 / Accepted: 8 June 2018 / Published: 10 June 2018
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Abstract

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. View Full-Text
Keywords: autonomous electric bus; path planning; high-precision map building; trajectory generation autonomous electric bus; path planning; high-precision map building; trajectory generation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Yu, L.; Kong, D.; Yan, X. A Driving Behavior Planning and Trajectory Generation Method for Autonomous Electric Bus. Future Internet 2018, 10, 51.

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