Title: Trajectory planning, dynamics modelling and trajectory tracking method for off-road autonomous vehicles considering the road topography information
Authors: Boyuan Li; Bangji Zhang; Haiping Du; Yang Wu; Shengzhao Chen
Addresses: State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China ' School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, Wollongong, NSW 2522, Australia ' State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China ' Department of Mechanical Engineering, Hunan University of Science and Technology, Xiangtan, 425100, China
Abstract: The road topography can significantly affect the tyre vertical load and the vehicle dynamics response in off-road scenarios, which will greatly impact the autonomous vehicle's stability, trajectory planning and trajectory tracking performance. However, the road topography information is less focused in current literature. This study focuses on the local trajectory planning and tracking method by assuming waypoints along the global route are already available. First an innovative spatiotemporal-based local trajectory planning algorithm is proposed to select the desired trajectory with minimum road gradient and bank angle. After that, a 8 degrees-of-freedom (DOF) vehicle dynamics model is proposed to better present the dynamics performance. Finally a double-layer control strategy for trajectory tracking is designed to follow the desired planned trajectory. It is proved by simulations results that the peak bank angle and road gradient could be avoided, and the trajectory tracking performance is improved by the proposed method. Furthermore, the omni-directional vehicle is shown to have better vehicle stability performance than the vehicle with front-wheel steering (FWS) characteristic.
Keywords: autonomous vehicle; trajectory planning; trajectory tracking; off-road; bank angle; road slope; dynamics model; road topography; spatiotemporal.
International Journal of Vehicle Design, 2021 Vol.87 No.1/2/3/4, pp.170 - 198
Received: 08 Sep 2020
Accepted: 30 Apr 2021
Published online: 05 May 2022 *