Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle's bodies may exceed its assigned drive lane, resulting in an increased risk of collision with surrounding traffic. In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer. To this end, we model the tractor-trailer vehicle in a road-aligned coordinate frame suited for on-road planning. Based on driving heuristics, a set of different optimization objectives is proposed, with the overall goal of designing a path planner that computes paths which minimize the off-track of the vehicle bodies swept area, while remaining on the road and avoiding collision with obstacles. The proposed optimization-based path-planning algorithm, together with the different optimization objectives, is evaluated and analyzed in simulations on a set of complicated and practically relevant on-road planning scenarios using the most challenging tractor-trailer dimensions.

中文翻译：

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基于优化的铰接式车辆道路路径规划

在狭窄的道路上操纵铰接式车辆对于人类驾驶员来说通常是一项具有挑战性的任务。除非车辆正确转向，否则车辆的部分车身可能会超出其指定的行驶车道，从而增加与周围交通碰撞的风险。在这项工作中，针对由拖拉机和拖车组成的铰接式车辆的道路驾驶场景，提出了一种基于优化的路径规划算法。为此，我们在适合道路规划的道路对齐坐标系中对牵引拖车进行建模。基于驾驶启发式，提出了一组不同的优化目标，总体目标是设计一个路径规划器，该路径规划器计算的路径最小化车身扫过区域的偏离轨道，同时保持在道路上并避免与障碍物碰撞。