Autonomous Vehicles for Public Transportation

Description

This book presents an interdisciplinary approach to autonomous driving technology design and development. It discusses a methodology of simulation that allows specialists to evaluate autonomous vehicle sensors functionality and integration, energy flow, efficiency, range, and service under public transport. The design, calibration, and physical model behind each autonomous vehicle sensor and component is explained. For each specific vehicle, the powertrain is analyzed, and output results are presented through the use of specific automotive industrial software (IPG CarMaker). The book gives the reader a clear perspective of the key factors influencing the global functionality of autonomous shuttle buses with respect to both their inner components the variable exterior factors and an exhaustive legal perspective in relation of their presence on public roads. Foreword Acknowledgements Introduction References Contents About the Authors Abbreviations 1 Autonomous Driving Basics 1.1 Autonomous Driving History 1.2 Levels of Driving Automation 1.3 Autonomous Driving Small/Medium Vehicles 1.4 Autonomous Driving for Public Transportation References 2 Autonomous Driving Technical Characteristics 2.1 Powertrain Architecture 2.1.1 Overview 2.1.2 Driveline 2.1.3 High Voltage Battery 2.1.4 Charging System 2.1.5 Steering Systems 2.1.6 Braking System 2.2 Sensor Systems 2.2.1 Overview 2.2.2 Lidar 2.2.3 Radar 2.2.4 Video Camera 2.2.5 GPS/GNSS 2.2.6 Ultrasonic Sensors 2.3 Vehicle Connections 2.3.1 Vehicle-to-Everything (V2X) 2.3.2 Vehicle-to-Vehicle (V2V) 2.3.3 Vehicle-to-Infrastructure (V2I) 2.3.4 Vehicle-to-Pedestrian (V2P) References 3 Autonomous Driving Systems 3.1 Autonomous Driving Algorithm 3.1.1 Overview 3.1.2 Perception 3.1.3 Prediction 3.1.4 Planning 3.1.5 Motion Control 3.1.6 Object Classification Mechanism 3.2 Electronic Control Unit of Autonomous Driving System 3.2.1 Overview 3.2.2 Hardware Architecture 3.2.3 Software Architecture 3.3 Autonomous Drive Platform 3.3.1 Vehicle Platform 3.3.2 Hardware Platform 3.3.3 Software Platform 3.3.4 Cloud Platform References 4 Safety and Cybersecurity 4.1 Safety 4.1.1 Functional Safety 4.1.2 Minimal Risk Operations 4.2 Cybersecurity 4.2.1 Security Objectives 4.2.2 Online Security 4.2.3 Security at the Vehicle Level 4.2.4 Security at the Component Level References 5 Route Specification 5.1 Local Map Generator 5.1.1 Plane Map: Construction and Optimization 5.1.2 Grid Map: Multi-layer Generation 5.1.3 Local Map: Static and Dynamic Objects 5.2 Virtual Route Digitization 5.2.1 Real Map: Coordinates of the Selected Route 5.2.2 Full 3D Map: Map of the Environment 5.2.3 Digitization of the Virtual Road 5.2.4 Scenario for Virtual Road References 6 Virtual Model 6.1 Virtual Model Development Methodology 6.2 Virtual Model for Navya Shuttle Bus 6.2.1 Simulation Tools CarMaker 6.2.2 Mathematical Model of the Virtual Configuration 6.2.3 Algorithm of Simulation Process 6.2.4 Constructive Architecture of the Virtual Configuration 6.2.5 Results of Simulation Process References 7 Legal Framework 7.1 European Legislation 7.1.1 French Republic 7.1.2 Federal Republic of Germany 7.1.3 Italian Republic 7.1.4 Netherlands 7.1.5 United Kingdom 7.1.6 Kingdom of Spain 7.1.7 Hellenic Republic 7.1.8 Romania 7.2 United States Legislation 7.2.1 Alabama (AL) 7.2.2 Arizona (AZ) 7.2.3 Arkansas (AR) 7.2.4 California (CA) 7.2.5 Colorado (CO) 7.2.6 Connecticut (CT) 7.2.7 Florida (FL) 7.2.8 Georgia (GA) 7.2.9 Hawaii (HI) 7.2.10 Illinois (IL) 7.2.11 Iowa (IA) 7.2.12 Kentucky (KY) 7.2.13 Louisiana (LA) 7.2.14 Maine (ME) 7.2.15 Maryland (MD) 7.2.16 Mississippi (MS) 7.2.17 Nebraska (NE) 7.2.18 Nevada (NV) 7.2.19 New Hampshire (NH) 7.2.20 New Jersey (NJ) 7.2.21 New Mexico (NM) 7.2.22 North Carolina (NC) 7.2.23 North Dakota (ND) 7.2.24 Ohio (OH) 7.2.25 Oregon (OR) 7.2.26 Pennsylvania (PA) 7.2.27 South Carolina (SC) 7.2.28 Tennessee (TN) 7.2.29 Texas (TX) 7.2.30 Utah (UT) 7.2.31 Vermont (VT) 7.2.32 Washington (WA) 7.2.33 Wisconsin (WI) 7.3 People’s Republic of China Legislation 7.4 Commonwealth of Australia Legislation 7.5 Japan Legislation 7.6 Insuring Autonomous Vehicles References 8 Social Implication 8.1 Social Impact 8.2 Advantages and Benefits 8.3 Disadvantages and Solutions 8.4 Autonomous Vehicles in Use. Case Studies 8.4.1 Europe 8.4.2 United States 8.4.3 China 8.4.4 Australia References Conclusions