Development of an Algorithm for the Real-time Trajectory Generation of a Control Target in a Driver Model and Vehicle Dynamics for an Autonomous Vehicle

Abstract

This paper describes the development of an algorithm for the real-time trajectory generation of a control target for an autonomous steering control system in the platooning system of a heavy truck. This algorithm is composed by the driver model, in which the risk potential is considered, as well as the vehicle dynamics model. The proposed algorithm was validated by a simulation that used the vehicle dynamics model with multiple degrees of freedom. In addition, the feasibility of the real-time processing for the control target was determined by a field test that loaded the algorithm on to the control hardware of the experimental vehicle.