NDLI: Development and validation of an automated steering control system for bus revenue service

Content Provider	IEEE Xplore Digital Library
Author	Han-Shue Tan Jihua Huang Wei-Bin Zhang
Copyright Year	2014
Description	Author affiliation: California PATH, Univ. of California, Berkeley, Berkeley, CA, USA (Han-Shue Tan; Jihua Huang; Wei-Bin Zhang)
Abstract	This paper presents the development and validation of an automatic steering controller that has been successfully implemented on a 18.3-m articulated bus for revenue service in Eugene, Oregon, USA. The automated steering system provides both lane keeping and S-curve precision docking on a 4-km-long narrow and curving urban segment with six stations and mixed traffic lanes while the operator controls the speed. The objective of deployment with an extended period of revenue service (carrying passengers) elevated the system safety and performance requirements. To meet the requirements, the controller needed to address accuracy, robustness, comfort, and fault tolerant capabilities. The baseline high-gain controller adopted for the automated bus takes the structure of the steering mechanism of a human driver with optimized parameters. The fault tolerant control incorporates a family of Kalman filters to sustain the automation after part of the sensing system fails. The resultant system achieved all performance requirements and the revenue service started in June, 2013.
Starting Page	31
Ending Page	36
File Size	1253213
Page Count	6
File Format	PDF
e-ISBN	9781479952830
DOI	10.1109/CoASE.2014.6899300
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Sensors Steering systems Testing Actuators Fault detection
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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