A new automated motion planning system of heavy accelerating articulated vehicle in a real road traffic scenario

Abstract

The main purpose of this study is to develop a novel motion planning for an articulated vehicle (AV) in real traffic situations. This motion planning generates collision-free and feasible trajectories based on kinematic and dynamic analyses of the AV concerning its surrounding vehicles. For this purpose, the collision-free trajectories are simulated in the presence of other vehicles, when the AV is conducting a lane change manoeuvre. A new method is utilised to derive the feasible trajectories by taking into account 3-D surface of the slip angle, roll angle, and lateral acceleration of the AV. This paper presents a new approach to generate the trajectory of an accelerating AV considering the surrounding vehicles in manoeuvre, which are either accelerating or decelerating. The optimal trajectory is then obtained based on the longitudinal acceleration of the AV and the time duration of the lane change manoeuvre, aimed at trajectory tracking control. Therefore, a 3-DOF dynamic model of the AV, including the yaw-rate, lateral velocity of the tractor and articulation angle, is developed. The tyres dynamic is simulated using non-linear Dug-off model. Furthermore, an innovative trajectory tracking control system is proposed concerning a sliding mode control. The developed dynamic model of the AV is verified by the Truck-Sim model. Results show that the collision-free and feasible trajectories can be generated based on the newly presented method of trajectory planning. The outcomes of the trajectory tracking control as the final part of the motion planning system indicate that the heavy articulated vehicle can be guided according to the new automated motion planning.

Determination of Turning Radius and Lateral Acceleration of Vehicle by GNSS/INS Sensor

“…Maneuvering heavy-duty trucks in collision-free manner was a special interest of Shojaei et al [ 20 ]. The authors presented their simulations of collision-free trajectories of a heavy-duty truck vehicle accelerating and surrounded by other vehicles, which were during either acceleration or deceleration.…”

“…Whereas Shojaei et al [ 20 ] considered a one-tractor one-trailer heavy-duty truck, Wang and He [ 21 ] focused on a multi-trailer heavy-duty vehicle (strictly writing, two trailers). The authors mentioned that ISO-14791 normative recommends the following maneuvers to be analyzed: an open-loop procedure with single sinewave steering input, and a closed-loop maneuver with a single sine-wave lateral acceleration input.…”

“…): Zhou et al [ 6 ], Xu et al [ 7 ], Hamersma and Els [ 8 ], Shu et al [ 9 ], Jurecki and Stańczyk [ 11 ], Sazgar et al [ 17 ], Visar et al [ 12 ], Tian et al [ 14 ], Ok et al [ 18 ], Vu [ 46 ], Dižo et al [ 55 ]—most of the mentioned research applied simulation methods, on the other hand, real conditions were included in Jurecki and Stańczyk [ 11 ], Xu et al [ 13 ], Zamfir et al [ 19 ]. Research focused on dynamics of freight transport vehicles: Shojaei et al [ 20 ], Wang and He [ 21 ], Braghin et al [ 23 ], Lewington [ 24 ], Balson et al [ 25 ], Zhang et al [ 26 ], Qu et al [ 27 ], Ikhsan et al [ 28 ], Senalik and Medanic [ 29 ], Ibrahim and Singh [ 30 ], Winkler et al [ 31 ], Romero et al [ 32 ], Jiang et al [ 33 ], Cao et al [ 34 ], Tavassoli Kallebasti et al [ 35 ], Huang et al [ 36 ], Mischinger et al [ 37 ], Marienka et al [ 49 ]—most of the references listed before the hyphen applied simulation and numerical methods; however, results in field exploitation were presented, e.g., in Winkler et al [ 31 ], Mischinger et al [ 37 ], Skrúcaný et al [ 48 ], Skrúcaný et al [ 47 ], Vlkovský et al [ 52 ], Vlkovský et al [ 51 ]. Research focused directly on drivers: Nash et al [ 38 ], Plöchl a...…”

“…Research focused on dynamics of freight transport vehicles: Shojaei et al [ 20 ], Wang and He [ 21 ], Braghin et al [ 23 ], Lewington [ 24 ], Balson et al [ 25 ], Zhang et al [ 26 ], Qu et al [ 27 ], Ikhsan et al [ 28 ], Senalik and Medanic [ 29 ], Ibrahim and Singh [ 30 ], Winkler et al [ 31 ], Romero et al [ 32 ], Jiang et al [ 33 ], Cao et al [ 34 ], Tavassoli Kallebasti et al [ 35 ], Huang et al [ 36 ], Mischinger et al [ 37 ], Marienka et al [ 49 ]—most of the references listed before the hyphen applied simulation and numerical methods; however, results in field exploitation were presented, e.g., in Winkler et al [ 31 ], Mischinger et al [ 37 ], Skrúcaný et al [ 48 ], Skrúcaný et al [ 47 ], Vlkovský et al [ 52 ], Vlkovský et al [ 51 ].…”

“…The list of publications presented at the end of Section 1.2 , which grouped the references [ 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 ...…”