A Real-Time Hierarchical Software Architecture for Coordinated Vehicle Control
نویسندگان
چکیده
This paper presents the conception, design, implementation and testing of innovative software architectures and software development processes for rapid prototyping of automated transit buses. Our work is motivated by demonstrations of automated transit bus technology in the context of Bus Rapid Transit (BRT) systems. Mission handling and safety issues are handled via a three-layer hierarchical control architecture. The approach was demonstrated using three automated transit buses provided by CalTrans, and equipped by researchers and staff at the California PATH program.
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