In order to test the safety of self-driving tractor-trailer vehicles when encountering snow and ice on low-grade roads, a convex corridor-based spatial path planning method adapted to snow and ice conditions is utilized. The method constructs a secure convex corridor in ice and snow regions by mapping obstacles and initial risks onto the Frenét coordinate system. It abstracts information such as safety, boundaries, and lateral control constraints, using the vehicle’s current position as the starting point. Spatial path optimization is then employed to generate a suitable and continuous speed trajectory. In light of the unique features of the ice and snow environment, a practical vehicle test was conducted on the Heihe test track. This test included four typical scenarios for automatic driving path planning on ice and snow road surfaces: cone bucket obstacle avoidance, pedestrian crossing, pedestrian following, and manhole cover. The experimental data collected during the test were processed in the tractor-trailer autopilot system. The results demonstrate that the method can effectively solve the quadratic planning problem with high robustness and practicality. This provides a valuable reference for the application of path planning algorithms in automatic driving technology, particularly in snow and ice areas.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Research on Real Vehicle Testing of Path Planning for Autonomous Driving Tractors Under Ice and Snow Conditions


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Guan, Huaiguang (Autor:in) / Guo, Peng (Autor:in) / Yang, Jiansen (Autor:in) / Xia, Haipeng (Autor:in) / Zhang, Dengquan (Autor:in)

    Kongress:

    Society of Automotive Engineers (SAE)-China Congress ; 2023 ; Shanghai, China October 25, 2023 - October 27, 2023



    Erscheinungsdatum :

    2024-02-21


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    LANE CHANGE PATH PLANNING ALGORITHM FOR AUTONOMOUS DRIVING VEHICLE

    LEE JIN-WOO | Europäisches Patentamt | 2015

    Freier Zugriff

    Driving path planning apparatus and method for autonomous vehicle

    KIM HOI WON / YOO SU JUNG / SHIN MIN YONG et al. | Europäisches Patentamt | 2017

    Freier Zugriff

    Lane change path planning algorithm for autonomous driving vehicle

    LEE JIN-WOO | Europäisches Patentamt | 2016

    Freier Zugriff

    PATH PLANNING IN AUTONOMOUS DRIVING ENVIRONMENTS

    GYLLENHAMMAR MAGNUS / SIVENCRONA HÅKAN | Europäisches Patentamt | 2022

    Freier Zugriff

    DRIVING PATH PLANNING APPARATUS AND METHOD FOR AUTONOMOUS VEHICLE

    KIM HOI WON / YOO SU JUNG / SHIN MIN YONG et al. | Europäisches Patentamt | 2016

    Freier Zugriff