Trajectory Planning of Autonomous Trucks for Collision Avoidance With Rollover Prevention
Autonomous trucks are considered as one of the most promising developments for future commercial vehicles. However, the impact of roll dynamics, which is well known as a crucial safety factor for conventional human-driven trucks, is not well studied for the trajectory planning of autonomous trucks. In this study, a trajectory planning strategy of autonomous trucks is proposed for collision avoidance scenarios with rollover prevention. The proposed three-step planning strategy can ensure both vehicle lateral and roll stability and safety, and simultaneously preserve the optimality of the planning solutions in terms of the total traveling time and distance for the whole maneuver. Specifically, the impact of vehicle roll dynamics on the trajectory planning of autonomous trucks is studied. The effectiveness and feasibility of the proposed trajectory planning strategy are evaluated via co-simulation between Matlab/Simulink and TruckSim.
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
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Supplemental Notes:
- Copyright © 2022, IEEE.
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Authors:
- Shi, Yue
- Huang, Yiwen
- Chen, Yan
- Publication Date: 2022-7
Language
- English
Media Info
- Media Type: Web
- Pagination: pp 8930-8939
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Serial:
- IEEE Transactions on Intelligent Transportation Systems
- Volume: 23
- Issue Number: 7
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- ISSN: 1524-9050
- Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979
Subject/Index Terms
- TRT Terms: Autonomous vehicles; Crash avoidance systems; Rollover crashes; Trajectory control; Trucks
- Subject Areas: Freight Transportation; Safety and Human Factors;
Filing Info
- Accession Number: 01885406
- Record Type: Publication
- Files: TRIS
- Created Date: Jun 20 2023 2:16PM