Abstract
Due to global purposes to ensure growth of a competitive and sustainable transport system, also to solve traffic safety and environmental problems, various engineering solutions are being sought out. It can be assumed that autonomous vehicles are the technology, which will ensure the positive change in the transport system. Even though many studies successfully advanced toward realisation of autonomous vehicles, a significant amount of technical and policy framework problems still has to be solved. This paper addresses the problem of predefined path feasibility and proposes an effective methodology for a path to follow re-planning. The proposed methodology is composed of three parts and is based on the Dubins path approach. In order to modify the vector based Dubins path approach and to ensure the path feasibility, the optimisation problem was solved. A cost function with different inequality constraints was formulated. The performance and reliability of the proposed methodology were analysed and evaluated by carrying out an experimental research while using the autonomous test vehicle.
Highlights
In research papers a number of investigations and solutions on how to increase mobility, passenger comfort, traffic safety or cut carbon emissions, etc. can be found
After reaching the transition point H4, the front wheels are returned to the neutral position seeking to move in the straight line regime and, after reaching the transition point H5, the turning of the steering wheels is being performed again to move in the turning-circular regime (Fig. 5, part a)
During the analysis of the results it was observed that when the moving in straight line segment time, due to the autonomous ground vehicles (AGVs) velocity, is shorter than time, determined by using Eq (18), there is no possibility to accurately return the front wheels into the neutral position (Fig. 5, part c)
Summary
In research papers a number of investigations and solutions on how to increase mobility, passenger comfort, traffic safety or cut carbon emissions, etc. can be found. In research papers a number of investigations and solutions on how to increase mobility, passenger comfort, traffic safety or cut carbon emissions, etc. Technological innovations for traffic safety improvement are proposed in [8, 36], reliability improvement propositions of urban / commercial transport and transportation are given in [28,29,30,31,32], decision making methods in automotive industry are reviewed in [34] and so on. In [18] it is stated that the main breakthrough in the transport system will be brought by the technology of autonomous vehicles. Despite the scientific advances that have been made throughout the last decade, there are still a number of problems and challenges, related to reliability of the autonomous vehicles, human-vehicle interaction, path planning and following, control systems, driving stability, policy framework, etc
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