Lane-change path planning and control method for self-driving articulated trucks

Tao Peng, Xingliang Liu, Rui Fang, Ronghui Zhang, Yanwei Pang, Tao Wang, Yike Tong
2020 Journal of Intelligent and Connected Vehicles  
Purpose This study aims to develop an automatic lane-change mechanism on highways for self-driving articulated trucks to improve traffic safety. Design/methodology/approach The authors proposed a novel safety lane-change path planning and tracking control method for articulated vehicles. A double-Gaussian distribution was introduced to deduce the lane-change trajectories of tractor and trailer coupling characteristics of intelligent vehicles and roads. With different steering and braking
more » ... rs, minimum safe distances were modeled and calculated. Considering safety and ergonomics, the authors invested multilevel self-driving modes that serve as the basis of decision-making for vehicle lane-change. Furthermore, a combined controller was designed by feedback linearization and single-point preview optimization to ensure the path tracking and robust stability. Specialized hardware in the loop simulation platform was built to verify the effectiveness of the designed method. Findings The numerical simulation results demonstrated the path-planning model feasibility and controller-combined decision mechanism effectiveness to self-driving trucks. The proposed trajectory model could provide safety lane-change path planning, and the designed controller could ensure good tracking and robust stability for the closed-loop nonlinear system. Originality/value This is a fundamental research of intelligent local path planning and automatic control for articulated vehicles. There are two main contributions: the first is a more quantifiable trajectory model for self-driving articulated vehicles, which provides the opportunity to adapt vehicle and scene changes. The second involves designing a feedback linearization controller, combined with a multi-objective decision-making mode, to improve the comprehensive performance of intelligent vehicles. This study provides a valuable reference to develop advanced driving assistant system and intelligent control systems for self-driving articulated vehicles.
doi:10.1108/jicv-10-2019-0013 fatcat:lfo3ctcxhbfmteaivdg6qc7ura