Autonomous vehicle needs more sensors than radar and lidar, various touch sensors, c-v2x and c-x2v wireless sensors are also necessary.

1. Alphaba Smart Bus and its
Autonomous Design Considerations
Speaker
Dr. Jun Steed Huang, got his PhD from https://en.wikipedia.org/wiki/Jeremiah_F._Hayes in 1993 under
Canadian International Development Agency program. He worked at Lockheed Martin, Bell Canada,
Nortel, Alcatel, Jiangsu University, Southern University of Science and Technology. He was Chief Scientist
for Alphaba bus, now works for the Trust CAV Program across Universities of Carleton, Waterloo, Queen’s,
Windsor and Ottawa.
Summary
Autonomous shared driving is an inevitable trend for the future. In order to ensure that these vehicles can
work safely, major manufacturers in the world have released their own safety and security systems. In this
talk we explain what we did for Alphaba smart bus with our own overall road safety and communication
security design considerations.
1:00-2:00pm, Saturday, May 29, 2021
Ottawa Autonomous Vehicle Group, CANADA

2. CBSF Project Description
2
China Bus System of the Future (CBSF) Initiative, autonomous public bus
project, is a central government level project directly led by Intelligent
Transport System China (ITSC) EV100, implemented by Shenzhen
Industrialization Incubation and Demonstration Base (Haylion), aims to
develop a complete intelligent eco energy public bus solution.
https://www.chinaev100.com/international
https://www.uitp.org/projects/ebsf/

3. 3
European Standard

4. 4
Japanese System

5. 5
USA Regulation

6. 6
NXP Box

7. 7
Qualcomm C-V2X

8. 8
USA Parts

9. 9
Canadian Parts

10. China Core Segments
10
CTSF
HEBS
CBSF
中国新能源智能重卡系统（自动驾驶卡车）
China Truck System of the
Future
混合动力公交系统
Hybrid Electrical Bus System
中国下一代新能源智能公交系统（自动驾驶公交）
China Bus System of the Future
https://www.tusimple.com/
http://www.chinabuses.org/manufacturers/
http://www.haylion.cn/index_e.jsp

11. HayLion Co Ltd
11
ITSC has appointed HAYLION to be the Technology Development Enterprise Lead,
Shenzhen Public Bus Group to be the Autonomous Public Bus Operation and
Commercialization Base, and renowned companies like TianMai Technologies (Software),
AnKai Bus (Hardware), RoboSense (Lidar), etc. to be the suppliers of the CBSF initiative,
planning to launch trial operations in numerous areas like Shenzhen Southern University
of Science and Technology of China, Shenzhen University, Overseas Chinese Town East,
Futian Free Trade Zone, HongKong, Wuhan, Tibet, Singapore.
https://www.robosense.ai/en https://www.keolis.com/en

12. CBSF Overall Framework
12
Shenzhen Trial Base
Research &
Production
Testing &
Trial
Promotion &
Sales
Shenzhen, Wuhan, Guangzhou
Guizhou, Beijing, etc.
New
Energy
Artificial
Intelligent
Wireless
Charging
V2I/V2V
Infra
Structure
Internet
Based
Operation
Bus manufacturers, Technology Partners,
Public Bus Operators, Govt Dept, Universities,
etc
1 Main Core
3 Focus
Function
5 Key
Technologies
10 Cities
Numerous
Partners
C
B
S
F

13. 13
GPS+Inertia
Navigation
Image Processing
based on Deep
Learning &
Heterogeneous
Computing
Image Processing
based on Persceptive
Re-construction &
Sequential Patterns
Analysis.
Radar signal
processing & Data
Correlation Filtering
Point Cloud Data
Processing based on
Unsupervised
Clustering Analysis
Multi-Sensor Input
Fusion based on
Multi-Mode
Spatiotemporal
Filtering &
Structured
Stochastic Decision
Theory
Internet
based V2X
Target
Parameters
• Type
• Timestamp
• Dimension
• Velocity
• Position
• Direction
• ……
Ethernet
Interface
UDP
Protocol
Raw Perceiption
Data
Modular
Inspection Data
Fused Target Data
Camera
3D-Cam
mm
Radar
LiDAR
Under complex driving environment, technologies to capture, inspect and track dynamic
targets Autonomously or Assisted, must be precise, accurate, robust and real-timed.
AlphaBus Technology Roadmap PCT Patent

14. Key Technologies
Environment Cognition
Environment Memory
Positioning
AI Autonomous Decision
Cooperative Control based on MPC
Precision Execution
Safety Lines Architecture
Mantis Eyes Architecture
Electric Eel Fish Architecture Target Perception
https://space.uitp.org/initiatives/alphaba-smart-bus-av-pilot-shenzhen-china

15. Bus Lane Label

16. Reverse Airbag Bumper
Air
Pump

17. 17
Key Technology: Safety Lines Architecture
60 meters laser
someone
30 meters
radar
10 meters
visual
5 meters purple
2 meters ultrasound
90 meters
wireless
EPS
GPS
IMS
EBS
Fusion
Perceived
0.5 meter touch
Seven Solid Safety Lines
Monitor
learning in the
background
2
3
4
5
6
7
1

18. 18
Key Technology: 7 Lines Architecture

19. 19
Key Technology: Safety Lines Architecture
Action Message
Hands and foot brakes Half a meter touch someone
Maximum brake 2 meters ultrasound someone
Ordinary brakes 5 meters purple someone
Point brakes to remind 10 meters visual someone
Deceleration 50% 30 meters radar someone
Deceleration 25% 60 meters laser someone
Deceleration 12.5% 90 meters wireless someone
Cruise no case

20. 20
Electric Hydraulic Power Steering

21. 21
Ethernet on top of CANs
GPU CPU VCU
EBS ECU
EPS

22. 22
Electronically Braking System

23. 23
Highspeed Liquid Cooled Motor

24. 24
7 Safety Lines Bus

25. 25
Real Time LIDAR Algorithm
https://github.com/steedhuang/MEMS-LIDAR-Momenergy-Functor
https://www.mathworks.com/matlabcentral/fileexchange/79268-laser-imaging-detection-and-ranging-with-momenergy-functors

26. 26
GPS Signed Encryption

27. 27
7+1 Safety Lines Bus
https://cutric-crituc.org/

28. 28
Bus for Senior
https://www.bruyere.org/en/blog/driving-automation?ly=25

29. Oversea Plan
• Japanese cabinet financial department deputy minister Takao
Ochi & SoftBank engineers visited Haylion demonstration base.
• Cooperating with NXP & ON Semiconductor to build our visual
system and control system.
• Scania invested Haylion as shareholder, focusing on
international business.
• Invited BYD to get into American market,
for promoting driverless bus.