摘要: The autonomous operation of Bus Rapid Transit (BRT) involves complex curving tracks, narrow lane/docking stations, and non-linear dynamics of articulated vehicles, posing significant challenges to automatic steering and docking system design. A robust and high-precision steering controller is required to ensure lane-keeping and docking performance. In this presentation, two controllers are designed to address the requirements: an optimal preview steering controller is designed based driver's behavior model; and  the other controller is designed based on frequency-shaping and optimal look-ahead control. A look-down magnetic reference system is developed to provide high-precision lane deviation and yaw information. Implementation and demonstration on a 18.3-m articulated vehicle demonstrates the system can achieve high-precision lane keeping and docking.