文章基本信息

标题：Optimization-Based On-Road Path Planning for Articulated Vehicles ⁎
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作者：Rui Oliveira ; Oskar Ljungqvist ; Pedro F. Lima 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：15572-15579
DOI：10.1016/j.ifacol.2020.12.2402
语种：English
出版社：Elsevier
摘要：AbstractManeuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle’s bodies may exceed its assigned drive lane, resulting in an increased risk of collision with surrounding traffic. In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer. To this end, we model the tractor-trailer vehicle in a road-aligned coordinate frame suited for on-road planning. Based on driving heuristics, a set of different optimization objectives is proposed, with the overall goal of designing a path planner that computes paths which minimize the off-track of the vehicle bodies swept area, while remaining on the road and avoiding collision with obstacles. The proposed optimization-based path-planning algorithm, together with the different optimization objectives, is evaluated and analyzed in simulations on a set of complicated and practically relevant on-road planning scenarios using the most challenging tractor-trailer dimensions.
关键词：KeywordsOn-road path planningarticulated vehiclestractor-trailer vehicles