authorea Authorea 10.36227/techrxiv.170327243.35964930/v1 0000-0002-9757-3328 Ochs Sven Grimm Daniel Doll Jens Heinrich Marc Orf Stefan Fleck Tobias Nienhüser Dennis Schreiber Miriam Koch Artur Schamm Thomas Kohlhaas Ralf Knoop Steffen Biber Peter Fratzke Dirk Kammerer Jakob Jethani Ravi Shekhar Bäuerlein Christian Kuhnt Florian Schörner Philip Zofka Marc René Zöllner J Marius 22 12 2023 This preprint is available at https://doi.org/10.36227/techrxiv.170327243.35964930/v1 automated driving autonomous buses index terms-autonomous vehicles public trans- port smart and intelligent infrastructure transportation