基于定性规则和考虑不确定性的几何方法的牵引车-半挂车偏移倒车路径规划

Inhwan Han
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引用次数: 0

摘要

与乘用车相比,牵引车-半挂车的倒车行为尤其具有挑战性,不仅给驾驶员,也给自动驾驶带来了许多困难。偏移倒车是铰接式车辆最重要的倒车场景之一,可应用于停车等有限空间内的各种路径规划,并可用于高级驾驶辅助系统(ADAS)和自动驾驶。首先,通过分析牵引车-半挂车在密闭空间中的缓慢运动,定义了用于一般姿态调整的标准单元运动和复合运动。通过几何方法近似拖拉机-半挂车专家驾驶员的偏移后退驾驶路径,结合复合运动和单位运动完成了定性路径规划。此外,由于基于几何方法的定性路径规划较为简单,还增加了补充运动,以应对可能出现的误差。通过对一辆自动驾驶汽车模型的反复实验测试,证明了所开发的牵引车-半挂车偏移后退路径规划的实用性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Offset backing path planning of tractor-semitrailer vehicles based on qualitative rules and geometric methods considering uncertainties
The backward behavior of tractor-semitrailer vehicles is particularly challenging compared to passenger vehicles, causing many difficulties not only for drivers but also for autonomous driving. Offset backing, which is one of the most important backward scenarios for articulated vehicles, can be applied to various path planning in a confined space, such as parking, and can be used for Advanced Driver Assistance Systems (ADAS) and autonomous driving. First of all, by analyzing the slow movement of a tractor-semitrailer vehicle in a confined space, standard unit motions and compound motions for general posture adjustment were defined. By approximating the offset backing driving paths of expert tractor-semitrailer drivers with a geometric method, qualitative path planning was completed by combining compound and unit motions. In addition, complementary motions were added to respond to errors that occur due to the simplicity of the qualitative path planning based on the geometric method. The usefulness of the developed offset backing path planning for tractor-semitrailer vehicles was demonstrated through repeated experimental tests with a model autonomous vehicle.
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