Trial of Autonomous Driving for Large Dump Trucks Using Slope-Adaptive Route Planning Based on Human Driving Data Analysis

Abstract

In this paper, we design a cost for entering a slope in a positive direction and evaluate automated operation of dump trucks with a path planning method using that cost. We analyzed data from human-driven dump trucks. We use the tendencies identified by this analysis to design the cost of slopes. We conducted an automatic operation of a dump truck in a quarry to evaluate the inclination of the roll axis. Experimental results showed that when slope direction was taken into account, the maximum tilt of the roll axis was smaller than when conventional Hybrid A* was applied. As a result, it was confirmed that safe automatic operation is possible even at the quarry site with slopes.