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.
Research on Real Vehicle Testing of Path Planning for Autonomous Driving Tractors Under Ice and Snow Conditions
Lect. Notes Electrical Eng.
Society of Automotive Engineers (SAE)-China Congress ; 2023 ; Shanghai, China October 25, 2023 - October 27, 2023
2024-02-21
16 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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