Abstract-This paper presents the design, implementation, and field testing of a lane assist system that provides lane guidance and curbside precision docking functions for a 60 ft articulated bus. The challenges in this lateral control design include the extra lightly-damped mode from the articulated section, the relatively large disturbance due to the sharp Scurves for precision docking, and the uncertainties introduced by public roads and live traffic. To tackle these challenges, the control problem is formulated as a mixed / synthesis problem and solved by LMI optimization. Extensive field tests were conducted in live traffic and the results show adequate and consistent performances
