Towards Seamless Autonomous Public Transportation: Deployment of Level-4 Autonomous Buses in Mixed-Traffic Environments

Autonomous public transportation systems are revolutionizing urban mobility by offering solutions for enhanced safety, accessibility, and operational efficiency. This paper presents a comprehensive analysis of the deployment of the KARSAN Autonomous e-Atak at Michigan State University (MSU), the first full-sized Level-4 autonomous bus operating on public roads in the United States. The deployment served as a real-world testbed, evaluating the vehicle's performance under mixed-traffic conditions, diverse urban terrains, and Michigan's four distinct seasons, including adverse weather conditions such as heavy snowfall, rain, and extreme temperatures. Key operational challenges were addressed, including sensor reliability, Vehicle-to-Everything (V2X) communication, and public acceptance, providing valuable insights into the integration of autonomous systems into public transportation networks. Furthermore, this paper discusses the technological innovations, regulatory considerations, and passenger experiences that shaped the deployment, along with plans for future advancements in autonomous mobility. The findings offer a road map for scalable and robust autonomous transportation solutions, paving the way for the broader adoption of Level-4 autonomous vehicles in diverse environments.