This paper studies the optimization of ride comfort during the maneuver of bus docking at a stop station. We propose an analytical comfort model that considers the coupled and nonlinear effect of acceleration and jerk levels on the comfort perceived by standing bus passengers. This is studied through offline path planning by formulating the docking problem as a Nonlinear Program while implementing the comfort model to minimize discomfort. Geometry constraints are imposed on several points on the vehicle contour to ensure that the bus stays within the road bounds and docking is performed safely. The offline solution is then used as a reference in a real-time control event using a Volvo 7900 autonomous bus. To gain perspective, the measurements from the field test were compared to those of a human-driven trajectory. The results indicate that only around $\mathbf {\mathrm {1.7~\%}}$ of bus occupants will experience discomfort with the proposed model, in comparison to $\mathbf {\mathrm {60~\%}}$ in a human-driven bus, while respecting road and vehicle constraints and accurately docking within an acceptable predefined distance from the curb. We also show through simulations that in comparison to our proposed model, the traditional method of quadratic penalties for comfort modeling produces higher discomfort levels and prevents some trajectories characterized by high acceleration and jerk. Such trajectories can be permitted and comfortable using our approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Bus Docking for Optimal Ride Comfort of Standing Passengers


    Beteiligte:
    Elawad, Amal (Autor:in) / Murgovski, Nikolce (Autor:in) / Jonasson, Mats (Autor:in) / Sjoberg, Jonas (Autor:in)


    Erscheinungsdatum :

    01.08.2024


    Format / Umfang :

    6986808 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Ride quality and thermal comfort for railway passengers

    Parsons, K. C. / Griffin, M. J. / Institution of Mechanical Engineers; Railway Division | British Library Conference Proceedings | 1993


    AUTONOMOUS RIDE DYNAMICS COMFORT CONTROLLER

    BERTOLLINI GARY P / SZCZERBA JOSEPH F / MATHIEU ROY J | Europäisches Patentamt | 2019

    Freier Zugriff

    Autonomous ride dynamics comfort controller

    BERTOLLINI GARY P / SZCZERBA JOSEPH F / MATHIEU ROY J | Europäisches Patentamt | 2020

    Freier Zugriff

    Study on the influence of car-body flexibility on passengers’ ride comfort

    Xu, Hanwen / Xiao, Xinbiao / Liu, Xiaolong et al. | Taylor & Francis Verlag | 2024