AI 中文总结
针对铰接式车辆自主导航的狭窄路线机动挑战，提出基于时空管的规划方法，确保挂车处于道路走廊内，经仿真验证可提供路线安全证书。
AI 中文摘要
铰接式车辆是货运的主力，其自主导航极具挑战性，这类车辆的物理特性和运动约束在狭窄路线机动时带来重大挑战。本文提出一种基于时空管的方法，用于规划半挂牵引车、卡车/牵引车挂车、牵引自动导引车（AGV）及公路列车等车辆的自主导航。该规划方法为卡车或牵引车提供有保证的路径规划，确保被牵引的一系列挂车始终处于道路走廊内，且在允许的修正范围内。规划利用连接部件的运动学特性及侧摆约束，为主动原动机生成安全管。我们通过允许的修正修改时空管，为车辆在给定路线上提供路线安全证书。所提规划方法在复杂路线的卡车-挂车导航仿真中得到验证。
英文摘要
Articulated vehicles are the workhorses of freight transportation, and their autonomous navigation is challenging. Their physical characteristics and motion constraints pose significant challenges in manoeuvring these vehicles on narrow routes. This paper presents a spatiotemporal tube-based approach to plan autonomous navigation of vehicles like tractor semi-trailers, truck/ tractor trailers, towing Automated Guided Vehicles (AGVs), and road trains. This planning approach provides a certified path plan for the truck or tractor, ensuring that the towed series of trailers always remains within the road corridor, limited by permissible corrections. The planning leverages the kinematics of the linked elements along with sway constraints to arrive at a safe tube for the actuated prime mover. We modify the spatiotemporal tube using permissible corrections to provide a route safety certificate to the vehicle for the given route. The proposed planning method is verified on a truck-trailer navigation simulation for a complex route.
CommentsAccepted for presentation at the 2026 IEEE International Conference on Intelligent Transportation Systems (ITSC 2026)
