7 safety sensors for autonomous bus including: 5G, Laser, Radar, Camera, Purple Light, Ultrasound, Touch. +1 Protection is UV light.

1. 7+1 Lines for Autonomous Vehicle
PST 17:00pm~19:00pm, November 4th 2020
Jun Steed Huang
340E Middlefield Rd, Mountain View, CA94043, USA

2. CBSF PROJECT DESCRIPTION
2
CHINA BUS SYSTEM of the FUTURE (CBSF) INITIATIVE, an Autonomous
Public Bus project, is a Central Government level project directly led by
Intelligent Transport System China (ITSC), implemented by Shenzhen
Industrialization Incubation and Demonstration Base, aims to develop a
complete Intelligent Autonomous New Energy Public Bus System Eco
Solution.

3. HAYLION PROJECT DESCRIPTION
3
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, AnKai Bus,
RoboSense, 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, etc.

4. CBSF Overall Framework
4
Shenzhen Trial Base
Research &
Production
Testing &
Trial
Promotion
Shenzhen, Guangzhou, Guizhou, Wuhan
Beijing, etc.
New
Energy
Artificial
Intelligent
Wireless
Charging
V2I/V2V
System
Infra
Structure
Internet
Based
Operation
Bus manufacturers, Technology Partners,
Public Bus Operators, Govt Dept, Universities,
etc
1 MAIN CORE
3 MAIN
FUNCTIONS
5 Key
Technologies
10 Cities
Numerous
Partners
C
B
S
F

5. HAYLION 3 Core Segments
5
CTSFHEBS
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

6. 6
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
Parameter
s
• Type
• Timestamp
• Dimension
• Velocity
• Position
• Direction
• ……
Ethernet
Interface
UDP
Protocol
Raw Perceiption
Data
Modular
Inspection Data
Fused Target Data
Camera3D-CammmRadarLiDAR
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

7. Key Technologies
Environment Cognition
Environment Memory
Positioning
AI Autonomous Decision
Cooperative Control based on MPC
Precision Execution
Safety Lines Architecture
Mantis Life Line Architecture
Fish Life Line Architecture Target Perception

8. 8
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

9. 9
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

10. 10
7 Safety Lines Bus

11. 11
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

12. 12
7+1 Safety Lines Bus

13. Intelligent Public Transport Development 1
 Intelligent, Networked and Collaborative Public Transport Integration
➢ Intelligent and Collaborative Public Transport Operation
• Intelligent mgt, Scheduling mgt, Appraiser mgt and Service mgt of Human,
Vehicle, Routes and Resources
• AI based Intelligent Scheduling : Human, Vehicle, Ridership, Road Condition,
Weather, Cost effect, etc.

14. Intelligent Public Transport Development 2
➢ Internet, Intelligent and Interactive : Human – Vehicle – Road (stations)
• Current : Vehicle and backend platform, backend platform to control &
dispatch
• Future : V2V, V2Stop, V2Road (Signal system, abnormality at road junctions
etc.), V2Passengers (sensing passengers’ needs), V2Driver, Passenger2Stops,
Various Elements 2 Backend Platform

15. Intelligent Public Transport Development 3
➢ Intelligent, Precision and Collaborative Public Transport Infra-structure
• Intelligent Stops : Precision arrival, Precision service, Fast Passenger flow
• Intelligent Road : various sensors to realise accurate sensing of the traffic
environment, to ensure safety and smooth operation.
• BRT field : to lead autonomous driving trial (Collaborative Interactive Human-
Vehicle-Stops-Depot)

16. Oversea Plan
• Japanese cabinet financial department deputy minister Takao
Ochi visited our demonstration base.
• Cooperating with 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 with Haylion, for
promoting driverless bus.