Planning two-dimensional trajectories for modular bus enroute docking

Authors

Yu Han
Xiaolei Ma
Bin Yu
Qianwen Li
Ronghui Zhang
Xiaopeng Li

Document Type

Journal Article

Publication Date

2024

Subject Area

place - urban, mode - bus, planning - safety/accidents

Keywords

Urban transportation, Modular buses (MBs)

Abstract

Modular buses (MBs), which can physically dock and separate, offer enhanced flexibility and potential cost savings in urban transportation. Despite advances in scheduling, trajectory planning for the docking process of MBs is less developed. This paper addresses the two-dimensional trajectory planning for MB docking. We introduce a hierarchical docking planning model based on Nonlinear Model Predictive Control (NMPC). The upper-level model optimizes docking time and speed, while the lower-level dynamically updates trajectories. Our models integrate Frenet and Cartesian coordinates with a precise obstacle avoidance model to ensure safety and smoothness under diverse traffic conditions. We employ segmented Lagrange interpolation for discretizing the continuous NMPC model, enhancing planning accuracy with fewer points and improving solving efficiency. Additionally, a multi-task network adaptively adjusts discretization orders based on environmental data. Extensive testing demonstrates our method’s superior accuracy and efficiency in real-time performance, offering marked improvements in safety and operational smoothness compared to existing approaches.

Rights

Permission to publish the abstract has been given by Elsevier, copyright remains with them.

Comments

Transportation Research Part E Home Page:

http://www.sciencedirect.com/science/journal/13665545

Recommended Citation

Han, Y., Ma, X., Yu, B., Li, Q., Zhang, R., & Li, X. (2024). Planning two-dimensional trajectories for modular bus enroute docking. Transportation Research Part E: Logistics and Transportation Review, 192, 103769.