ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks
Abstract Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation. However, their maximum speed and ability to navigate a variety of driving conditions, particularly uneven roads, are limited by a high center of gravity, which increases the risk of ro...
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| Format: | Article |
| Language: | English |
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SpringerOpen
2025-02-01
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| Series: | Chinese Journal of Mechanical Engineering |
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| Online Access: | https://doi.org/10.1186/s10033-024-01157-8 |
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| author | Yechen Qin Yiwei Huang Wenhao Yu Hong Wang |
| author_facet | Yechen Qin Yiwei Huang Wenhao Yu Hong Wang |
| author_sort | Yechen Qin |
| collection | DOAJ |
| description | Abstract Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation. However, their maximum speed and ability to navigate a variety of driving conditions, particularly uneven roads, are limited by a high center of gravity, which increases the risk of rollover. Road bulges, sinkholes, and unexpected debris all present additional challenges for autonomous trucks' operational design, which current perception and decision-making algorithms often overlook. To mitigate rollover risks and improve adaptability to damaged roads, this paper presents a novel Road Obstacle-Involved Trajectory Planner (ROITP). The planner categorizes road obstacles using a learning-based algorithm. A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics. Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation. |
| format | Article |
| id | doaj-art-3a732b52fb934f73b242092e5f6847a0 |
| institution | Kabale University |
| issn | 2192-8258 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj-art-3a732b52fb934f73b242092e5f6847a02025-02-09T12:16:11ZengSpringerOpenChinese Journal of Mechanical Engineering2192-82582025-02-0138111310.1186/s10033-024-01157-8ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous TrucksYechen Qin0Yiwei Huang1Wenhao Yu2Hong Wang3School of Mechanical Engineering, Beijing Institute of TechnologySchool of Mechanical Engineering, Beijing Institute of TechnologyScool of Vehicle and Mobility, Tsinghua UniversityScool of Vehicle and Mobility, Tsinghua UniversityAbstract Autonomous trucks have the potential to enhance both safety and convenience in intelligent transportation. However, their maximum speed and ability to navigate a variety of driving conditions, particularly uneven roads, are limited by a high center of gravity, which increases the risk of rollover. Road bulges, sinkholes, and unexpected debris all present additional challenges for autonomous trucks' operational design, which current perception and decision-making algorithms often overlook. To mitigate rollover risks and improve adaptability to damaged roads, this paper presents a novel Road Obstacle-Involved Trajectory Planner (ROITP). The planner categorizes road obstacles using a learning-based algorithm. A discrete optimization algorithm selects a multi-objective optimal trajectory while taking into account constraints and objective functions derived from truck dynamics. Validation across various scenarios on a hardware-in-loop platform demonstrates that the proposed planner is effective and feasible for real-time implementation.https://doi.org/10.1186/s10033-024-01157-8Autonomous truckTrajectory planningObstacle avoidingVehicle stabilityPolynomial curves |
| spellingShingle | Yechen Qin Yiwei Huang Wenhao Yu Hong Wang ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks Chinese Journal of Mechanical Engineering Autonomous truck Trajectory planning Obstacle avoiding Vehicle stability Polynomial curves |
| title | ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks |
| title_full | ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks |
| title_fullStr | ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks |
| title_full_unstemmed | ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks |
| title_short | ROITP: Road Obstacle-Involved Trajectory Planner for Autonomous Trucks |
| title_sort | roitp road obstacle involved trajectory planner for autonomous trucks |
| topic | Autonomous truck Trajectory planning Obstacle avoiding Vehicle stability Polynomial curves |
| url | https://doi.org/10.1186/s10033-024-01157-8 |
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