1 Introduction
1.1 Background
1.2 Outline of Connected Public Transport
2 A Pilot Test of Autonomous Bus Proceeding Down in LRT Track
2.1 Outline of Pilot Test
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Date: November 16 (Sat) to 17 (Sun)
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Time: 6.5 h from 11:00 pm to 5:30, including preparation and cleanup.
2.2 Test Vehicles
Item | Contents |
---|---|
Vehicle type | HINO Poncho |
Riding capacity | 28 people with 8 seats (For safety reasons, all passengers must seat during the pilot test) |
Size | Length, Width, Height: 6,990mm long × 2,080mm wide × 3,100mmhigh |
Speed | Maximum speed is limited to 40 km/h |
Self-driving systems (details presented in Table 3) | - Lane-keeping systems (GNSS(GPS), QZSS) - Cruise control systems (maximum 40 km/h): ACC, PCS - Lane-change control system - Precise docking control system |
2.3 Venue of Pilot Test
2.4 Preparation of Pilot Test
2.4.1 Preliminary Safety Check of AB Drive

Items | Check contents |
---|---|
Precise docking control system | Whether AB can keep at least 20 cm from the curb stone at the opening-closing time, even if RTK-GPS position causes a significant error? Whether AB hits stop shed due to bumpy surface of LRT track or not? |
Lane-keeping systems (GNSS (GPS), QZSS) Lane-change control system | Whether AB is steered away from exact position due to bumpy surface of LRT track or not? Whether AB can exit from tram track and enter vehicular road or not? |
ACC (Adaptive Cruise Control) system | Whether AB runs and stops at two stages (firstly 6 m and secondly stops 3 m before the previous LRT) or not? |
2.4.2 Protective Measures during the Pilot Test
2.4.3 Public Announcement of Pilot Test
Date | Contents | Targets/methods |
---|---|---|
October 24, 2019 | Traffic restriction for the pilot test | Residents in Funairi-Kawaguchi, Nishi-Kawaguchi and Funairi-Minami 1 to 4/Circulating flier, Posting a public announcement, |
October 29, 2019 | Public announcement | Journalistic organizations/Home page of Hiroshima University |
November 15, 2019 | Interviews at the pilot test | Journalistic organizations/Home page of Hiroshima University |
2.5 Implementation of Pilot Test
i) Monitors board to AB at the control center. (Fig. 23) |
ii) AB drives manually from the control center to the starting point of the deregulated section of the test |
iv) Monitors get off AB at the rear of the stop platform |
v) Soon after LRT departures, AB drives autonomously by following up the LRT with cruise control systems and then stops at the front of the stop again based on the designed program (Fig. 26) |
vi) Monitors get on AB at the front of the stop again (Fig. 27) |
viii) AB drives manually from the endpoint of the deregulated section of the test to the control center |
ix) Monitor gets off AB at the control center |

2.6 Results of AB Pilot Test
2.6.1 Measurement of Test Driving
Items | Sensors |
---|---|
Position, lateral position | GNSS antenna (RTK-GPS/GNSS) |
Distance (velocity by differentiating with respect to time) | GPSS antenna (RTK-GPS/GNSS), velocity pulse, millimeter-wave radar, LIDAR, front camera |
Acceleration, lateral acceleration | Acceleration meter, gyroscope sensor |
2.6.2 Two-Step Stop
