Autonomous Driving Technology for Amphibious Bus and Its Potential for Disaster Prevention
水陸両用バスの自動運転技術と防災への応用可能性
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.)：￥1,100 Members (tax incl.)：￥880
- Publication code
- 20264411
- Paper/Info type
- Journal of Society of Automotive Engineers of Japan
Vol.80 No.5
- Pages
- 58-63(Total 6 p)
- Date of publication
- May 2026
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 自動運転×防災・減災 Translation |
|---|---|
| Category(E) | Autonomous Driving for Disaster Prevention and Mitigation |
| Author(J) | 1) 渡部 大志, 2) 清水 宣光, 3) 和田 正義, 4) 大久保 達真 |
| Author(E) | 1) Daishi Watabe, 2) Nobumitsu Shimizu, 3) Masayoshi Wada, 4) Tatsuma Ohkubo |
| Affiliation(J) | 1) 埼玉工業大学, 2) NXTech, 3) 東京理科大学, 4) 前橋工科大学 |
| Abstract(J) | 水陸両用バスの自動運転・運航技術を開発した。バイワイヤシステム、LiDAR・カメラ・ソナーによる障害物検知、GNSS測位を搭載。車両と船舶でモデルを切り替えるMPC制御を実装し、八ッ場ダムでの入出水・障害物回避に成功した。防災への応用として、道路冠水時の避難支援や物資輸送が期待される。 Translation |
| Abstract(E) | This paper presents the development of autonomous driving and navigation technology for amphibious buses. A 45-passenger amphibious bus was equipped with by-wire systems for steering, throttle, and captain wheel. Sensors including LiDAR, cameras, sonar, and GNSS were integrated for obstacle detection and positioning. Model Predictive Control (MPC) was implemented with switching between kinematic vehicle model and Nomoto KT model. Experiments at Yamba Dam demonstrated successful autonomous water entry/ exit, path following, and obstacle avoidance. |
