Abstract
In truck platooning, the leading vehicle is driven manually, and the following vehicles run by autonomous driving, with the short inter-vehicle distance between trucks. To successfully perform platooning in various situations, each truck must maintain dynamic stability, and furthermore, the whole system must maintain string stability. Due to the short front-view range, however, the following vehicles’ path planning capabilities become significantly impaired. In addition, in platooning with articulated cargo trucks, the off-tracking phenomenon occurring on a curved road makes it hard for the following vehicle to track the trajectory of the preceding truck. In addition, without knowledge of the global coordinate system, it is difficult to correlate the local coordinate systems that each truck relies on for sensing environment and dynamic signals. In this paper, in order to solve these problems, a path planning algorithm for platooning of articulated cargo trucks has been developed. Using the Kalman filter, V2V (Vehicle-to-Vehicle) communication, and a novel update-and-conversion method, each following vehicle can accurately compute the trajectory of the leading vehicle’s front part for using it as a target path. The path planning algorithm of this paper was validated by simulations on severe driving scenarios and by tests on an actual road. The results demonstrated that the algorithm could provide lateral string stability and robustness for truck platooning.
Highlights
Truck platooning refers to a form in which a number of trucks run as a fleet with short inter-vehicle distance using V2V (Vehicle-to-Vehicle) communication
This paper introduces the research In Korea, a first government project on truck platooning-TROOP (TRuck platOOning Project)-was on the planning algorithm of project the following vehicles (FVs), on which has been developed as(TRuck part of platOOning the TROOP project
This paper introduces the research path planning algorithm of the FV, which has been developed as part of the TROOP project
Summary
Truck platooning refers to a form in which a number of trucks run as a fleet with short inter-vehicle distance using V2V (Vehicle-to-Vehicle) communication. In 2016, they hosted the European Truck Platooning Challenge [1], and in 2018, they launched a large-scale inter-country project ENSEMBLE for multi-brand truck. In 2016, they hosted the European Truck Platooning Challenge [1], and in 2018, they launched a large-scale inter-country project ENSEMBLE for multi-brand truck platooning [2]. Many studies being conducted worldwide onthe truck platooning sincebut it can improvement advanced truckare platooning system covering not just control technologies alsobring the operational in driving safety, driver convenience, fuelthat economy, and emission reduction. Platooning and in 2018, cargo truck with two bodies-tractor and trailer-linked by a kingpin where all the longitudinal and [2] They launched a large-scale inter-country project ENSEMBLE for multi-brand truck platooning lateral controls are performed only at the tractor. In the US, the legislation necessary for platooning is actively being prepared to spur truck platooning
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