TY - GEN
T1 - Local trajectory planning for autonomous trucks in collision avoidance maneuvers with rollover prevention
AU - Shi, Yue
AU - Chen, Yan
AU - Jia, Bingxi
N1 - Publisher Copyright:
© 2019 American Automatic Control Council.
PY - 2019/7
Y1 - 2019/7
N2 - The local trajectory planning is one of the important techniques for autonomous trucks. However, in the relevant researches, the vehicle planar dynamics/motion constraints are typically considered, and few studies investigated the impact of rollover with respect to the planned trajectory, which is more significant for commercial trucks than passenger vehicles. On the other hand, many trajectory planning approaches isolate path planning and velocity planning to simplify the problem. To address these issues, a local trajectory planning for collision avoidance maneuvers of autonomous trucks is proposed in this study. The whole collision avoidance maneuver is considered as a three-step procedure, including braking, lane changing, and acceleration. The path planning is integrated with the velocity planning to better preserve the optimality of the planning results. Specifically for autonomous trucks, rollover prevention is considered as an extra constraint to ensure vehicle stability and safety. The effectiveness and feasibility of the proposed trajectory planning strategy is evaluated by simulation results. The conclusion is that the integrated path and velocity planning together with the consideration of rollover prevention in the local trajectory planning is important to ensure the handling stability and safety as well as the efficiency of autonomous trucks.
AB - The local trajectory planning is one of the important techniques for autonomous trucks. However, in the relevant researches, the vehicle planar dynamics/motion constraints are typically considered, and few studies investigated the impact of rollover with respect to the planned trajectory, which is more significant for commercial trucks than passenger vehicles. On the other hand, many trajectory planning approaches isolate path planning and velocity planning to simplify the problem. To address these issues, a local trajectory planning for collision avoidance maneuvers of autonomous trucks is proposed in this study. The whole collision avoidance maneuver is considered as a three-step procedure, including braking, lane changing, and acceleration. The path planning is integrated with the velocity planning to better preserve the optimality of the planning results. Specifically for autonomous trucks, rollover prevention is considered as an extra constraint to ensure vehicle stability and safety. The effectiveness and feasibility of the proposed trajectory planning strategy is evaluated by simulation results. The conclusion is that the integrated path and velocity planning together with the consideration of rollover prevention in the local trajectory planning is important to ensure the handling stability and safety as well as the efficiency of autonomous trucks.
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U2 - 10.23919/acc.2019.8815247
DO - 10.23919/acc.2019.8815247
M3 - Conference contribution
AN - SCOPUS:85072297662
T3 - Proceedings of the American Control Conference
SP - 3981
EP - 3986
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -