When shuttle buses execute the station docking task, it faces the challenges of occupied parking space, precision docking at a station platform and merging into the lane during out of the station. This technology provides the ability for fully/semi-autonomous vehicles with automated precision docking and pulling out of the station. It can automatically plan the currently suitable path and velocity based on environmental restrictions of stations and the situation of occupied parking space when docking. Furthermore, it can also detect the surrounding environment of the station to choose the suitable parking spaces and determine driving behaviors applying to different scenarios including standing to wait for docking and waiting for traffic flow from the rear passing through when exiting the station to ensure the safety of vehicle during the station docking process and avoid the accidents.

1.Docking initial / Pulling-out end vehicle velocity: 3~10 (km/h)
2.Perception detection distance: front & rear 40 (m) / left & right 8 (m)
3.Applicable vehicle specifications: length ≤ 12 (m) / width ≤ 2.5 (m) / with abilities of trajectory tracking control and adaptive cruise control with stop-go
4.Distance from curb after parking: ≤ 30 (cm)
5.Lateral displacement during docking: ≤ 4 (m)
6.Longitudinal space required: docking ≥ 2.4 times length of target vehicle / pulling-out ≥ 1.8 times length of target vehicle
7.Available parking space: length ≥ 7.5 (m) & 1.25 times length of target vehicle / width ≥ 3 (m)
8.Import / export zone space: length ≥ 1.25 times length of target vehicle / width ≥ width of parking space

Advanced Driver Assistance System (ADAS), Autonomous Driving System (ADS)

This technology automatically adjusts and plans the appropriate driving trajectory for vehicle docking based on the environmental information of the station. It can be applied to shuttle vehicles with self-driving or driving assistance to realize the fully automated functions of parking space selection, docking and pulling out of the station. On the other hand, it can also make vehicle standing to deal with obstacles around the stop to make sure the safety during vehicle docking and avoid collisions.