リスクポテンシャル最適化に基づく大型車の狭路自動走行制御手法

抄録

In order to solve the truck driver shortage that has become a problem in recent years, manpower-saving and unmanned operation of commercial vehicles is currently being actively researched and developed. However, in narrow-road driving situations such as in urban areas and parking lots, commercial vehicles have larger internal wheel track differences and overhang lengths than passenger cars. Therefore, path tracking control focusing on CG position tracking applied to passenger cars cannot be applied directly to commercial vehicles. Therefore, the purpose of this study is to develop a path planning and motion control system for automatic driving of commercial vehicles on narrow roads in a restricted area. To construct the system, we used a risk potential field that expresses the driver's sense of risk. For tight curves, the system used Triclothoid to generate a route with a large turning radius, and modified the road information to cope with the curves. The effectiveness of the above methods was confirmed by simulations using IPG TruckMaker.