버스의 동역학적 특성을 고려한 최적 경로 생성

Abstract

Various researches have been conducted for autonomous driving of passenger vehicles. On the other hand, dynamic characteristics of extra-sized vehicles, e.g., buses, are different from theirs. For instance, it is important that the long body of buses does not invade the adjacent lanes during cornering. Also, sufficient travel distance and time are required such that lane change can be proceeded in consideration of size and weight of the vehicle when changing lanes. In this paper, optimal trajectory planning algorithm considering dynamic characteristics of bus is proposed for stable lane keeping and lane change. First, target point is created by the optimized trajectories from a cost function of curvature and length, and then, the final trajectory is decided by searching the points around the target point for minimizing lateral jerk. By performing the optimization in two stages, it is possible to consider the dynamic characteristics of the bus and create a stable path that ensures real-time computation. A sliding mode control controller is used as the control algorithm for following the generated path. The proposed algorithm is verified by simulation using commercial software, Trucksim and MATLAB/Simulink.