Overview
An advanced driver-assistance system (ADAS) for precise manoeuvres of non-articulated and articulated Solaris city buses, including docking under pantograph chargers: GNSS-based guidance, state estimation and control, validated in field tests.
- Period
- 2019 - 2021
- Role
- Research assistant, system developer
- Organisation
- Poznań University of Technology, with Solaris Bus & Coach
- Funding
- Regional Science and Research Agendas programme, National Centre for Research and Development, POIR.04.01.02-00-0081/17, co-financed by the European Regional Development Fund
- Budget
- 3 848 181 PLN
Iman's work
- Sensor fusion, state estimation, path planning and control algorithms for city buses.
- ROS packages in C++ on Linux.
- Field-tested with the Poznań public-transport operator; results published in Remote Sensing (2023).
Related publications
keywords ADAS driver assistance GNSS RTK state estimation motion planning control city buses ROS C++