Motion Planning and Tracking Control Algorithm for Autonomous Truck with Trailer

In this paper, an optimal motion planning and tracking control algorithm for autonomous truck with trailer is proposed. Firstly, a road reference line model is established based on the global navigation path, which the autonomous truck can search the posture relationship with the reference line in real time according GPS/IMU system. Secondly, a Quintic Bezier lateral candidate trajectories generation algorithm and a Quintic Polynomial longitudinal candidate speeds generation algorithm are designed based on the road longitudinal and lateral adaptive sampling strategy in SL coordinates. Moreover, a tracking control algorithm is designed to realize the real-time tracking strategy of the optimal trajectory to ensure the tractor and trailer to reach the destination safely, comfortably and smoothly. The simulation and road test results show that the autonomous truck can realize the real-time dynamic planning, can avoid the collision of static obstacles, and can adaptively follow the front dynamic obstacle, which verifies the feasibility, effectiveness and accuracy of the algorithm.