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Driving in urban environments often presents difficult situations thatrequire expert maneuvering of a vehicle. These situations become even morechallenging when considering large vehicles, such as buses. We present a pathplanning framework that addresses the demanding driving task of buses in urbanareas. The approach is formulated as an optimization problem using theroad-aligned vehicle model. The road-aligned frame introduces a distortion onthe vehicle body and obstacles, motivating the development of novelapproximations that capture this distortion. These approximations allow for theformulation of safe and non-conservative collision avoidance constraints.Unlike other path planning approaches, our method exploits curbs and othersweepable regions, which a bus must often sweep over in order to manage certainmaneuvers. Furthermore, it takes full advantage of the particularcharacteristics of buses, namely the overhangs, an elevated part of the vehiclechassis, that can sweep over curbs. Simulations are presented, showing theapplicability and benefits of the proposed method.

Path Planning for Autonomous Bus Driving in Urban Environments