California Partners for Advanced Transportation Technology

This project is a one-and-half year research and experimental effort to investigate the implementation of the precision docking system on a bus and to demonstrate that the system can provide superior docking accuracy. Since a bus cannot be secured for docking experiments during the period of the project, the Buick LeSabre test vehicle was used to further the docking system development. The work included (1) complete control analysis and integrate docking algorithm with lane-keeping algorithm; (2) software development that integrated the modularized new signal processing algorithm with the docking control algorithm structure; (3) steering actuator performance/component requirements for the automated docking function; (4) feasibility investigation of using driver guidance display for docking maneuver via a driver-in-the-loop display simulator; (5) formulation of the automated-manual transitioning problem and the design of a transition controller; (6) demonstration of precision docking. The research completed under this project contributed to three sets of deliverables: (1) a final report which presents the analysis and experimental results of the development of the integrated lateral control system based on the magnetic marker for both precision docking and lane-assist functions, (2) requirements for steering actuator design, and (3) demonstrations of precision docking and lane-assist control using Buick LeSabre test vehicle.