Contemporary transportation is developing toward applications of large-capacity vehicles. This trend is caused mainly by environmental and economic factors. In the public transportation area, it leads to the use of long and articulated electric buses, which are difficult to maneuver, even for experienced drivers. Consequently, there is a need to develop advanced driver-assistance systems (ADAS) for operators of urban buses to safely perform positioning maneuvers with acceptable precision. This article presents an ADAS concept dedicated to the task of precisely docking a pantograph tip with a charging station. We describe the functional structure of the ADAS and explain details of its interconnected components responsible for motion algorithmization, environmental perception, and vehicle localization. Experimental results of assisted pantograph docking maneuvers obtained with an articulated electric bus are provided.

中文翻译：

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大容量车辆充电站精准对接：面向电动城市公交车司机的先进驾驶辅助系统


当代交通正在向大容量车辆的应用发展。这种趋势主要是由环境和经济因素造成的。在公共交通领域，这导致使用长的铰接式电动公交车，即使对于经验丰富的驾驶员来说也很难操纵。因此，需要开发先进的驾驶员辅助系统（ADAS），供城市公交车运营商以可接受的精度安全地执行定位操作。本文介绍了一个 ADAS 概念，致力于将受电弓尖端与充电站精确对接。我们描述了 ADAS 的功能结构，并解释了负责运动算法、环境感知和车辆定位的互连组件的详细信息。提供了通过铰接式电动客车获得的辅助受电弓对接操作的实验结果。