Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

doi:10.1007/s12204-021-2362-9

J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (5): 722-730.doi: 10.1007/s12204-021-2362-9

收稿日期:2020-12-20 出版日期:2021-10-26 发布日期:2021-10-28
通讯作者: WANG Chunxiang? (王春香),?E-mail: wangcx@sjtu.edu.cn

Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

SHEN Qiyue (沈琦越), WANG Bing (王冰), WANG Chunxiang∗ (王春香)

(Department of Automation; Key Laboratory of System Control and Information Processing of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China)

Received:2020-12-20 Online:2021-10-26 Published:2021-10-28

摘要/Abstract

Abstract: Tractor-trailer vehicles, which are composed of a car-like tractor towing a passive trailer, have been widely deployed in the transportation industry, and trajectory planning is a critical step in enabling such a system to drive autonomously. Owing to the properties of being highly nonlinear and nonholonomic with complex dynamics, the tractor-trailer system poses great challenges to the development of motion-planning algorithms. In this study, an indirect trajectory planning framework for a tractor-trailer vehicle under on-road driving is presented to deal with the problem that the traditional planning framework cannot consider the feasibility and quality simultaneously in real-time trajectory generation of the tractor-trailer vehicle. The indirect planning framework can easily handle complicated tractor-trailer dynamics and generate high-quality, obstacle-free trajectory using quintic polynomial spline, speed pro?le optimization, forward simulation, and properly designed cost functions. Simulations under di?erent driving scenarios and trajectories with di?erent driving requirements are conducted to validate the performance of the proposed framework.

Key words: trajectory planning, tractor-trailer vehicle, forward simulation, on-road driving

中图分类号:

TP 242

. [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 722-730.

SHEN Qiyue (沈琦越), WANG Bing (王冰), WANG Chunxiang∗ (王春香). Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 722-730.

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Real-Time Trajectory Planning for On-road Autonomous Tractor-Trailer Vehicles

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