  The final project report for the SmartShuttle sub-project of the Ohio State
University is presented in this report. This has been a two year project where
the unified, scalable and replicable automated driving architecture introduced
by the Automated Driving Lab of the Ohio State University has been further
developed, replicated in different vehicles and scaled between different
vehicle sizes. A limited scale demonstration was also conducted during the
first year of the project. The architecture used was further developed in the
second project year including parameter space based low level controller
design, perception methods and data collection. Perception sensor and other
relevant vehicle data were collected in the second project year. Our approach
changed to using soft AVs in a hardware-in-the-loop simulation environment for
proof-of-concept testing. Our second year work also had a change of
localization from GPS and lidar based SLAM to GPS and map matching using a
previously constructed lidar map in a geo-fenced area. An example lidar map was
also created. Perception sensor and other collected data and an example lidar
map are shared as datasets as further outcomes of the project.
