대형 상용차량을 위한 경로생성 알고리즘

Abstract

This paper proposes a path planning algorithm for a large tractor semi-trailer system. This system consists of perception and path planning. In the perception, surrounding obstacles and lane information are mapped to coordinate system of a host vehicle. Considering surrounding environment, desired path is generated to ensure the safety of the host vehicle. This algorithm is developed based on MATLAB/Simulink and the performance is validated using the commercial software TruckSim.