Planning two-dimensional trajectories for modular bus enroute docking

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. The authors 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. Their models integrate Frenet and Cartesian coordinates with a precise obstacle avoidance model to ensure safety and smoothness under diverse traffic conditions. They 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 their method’s superior accuracy and efficiency in real-time performance, offering marked improvements in safety and operational smoothness compared to existing approaches.

• Record URL:
  • https://doi.org/10.1016/j.tre.2024.103769
• Record URL:
  • http://www.sciencedirect.com/science/article/pii/S1366554524003600
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/13665545
• Supplemental Notes:
  • © 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies. Abstract reprinted with permission of Elsevier.
• Authors:
  • Han, Yu
  • Ma, Xiaolei
  • Yu, Bin
  • Li, Qianwen
  • Zhang, Ronghui
  • Li, Xiaopeng
• Publication Date: 2024-12

Language

• English

Media Info

• Media Type: Web
• Features: Figures; References;
• Pagination: 103769
• Serial:
  • Transportation Research Part E: Logistics and Transportation Review
  • Volume: 192
  • Issue Number: 0
  • Publisher: Elsevier
  • ISSN: 1366-5545
  • Serial URL: http://www.sciencedirect.com/science/journal/13665545

Subject/Index Terms

• TRT Terms: Buses; Docking; Scheduling; Vehicle trajectories
• Identifier Terms: Model Predictive Control
• Subject Areas: Planning and Forecasting; Public Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01932252
• Record Type: Publication
• Files: TRIS
• Created Date: Sep 30 2024 8:43AM