Zusammenfassung
Die Automatisierung von Fahrzeuggespannen bedarf einer präzisen Manöverplanung, um das Gespann kollisionsfrei von einem initialen Zustand in einen gewünschten Zustand zu überführen. Durch Wahl einer Architektur, welche die Stärken verschiedener Planungsverfahren kombiniert, kann ein effizientes Zusammenspiel aus lokaler und globaler Trajektorienplanung erzielt werden. Die resultierende globale Lösung wird anschließend mit einem optimalen Geschwindigkeitsprofil versehen und die gewünschten Fahreigenschaften mittels Verfahren der numerischen Optimierung umgesetzt.
Abstract
The automation of truck-trailer combinations requires precise planning of the driving maneuvers to move the system from an initial state to a desired state without collisions. By choosing an architecture that combines the strengths of different planning algorithms, an efficient interaction of local and global methods can be achieved. For the resulting global solution an optimal velocity profile is computed and the desired driving characteristics are achieved using numerical optimization techniques.
Über die Autoren
Julian Dahlmann erhielt den M.Sc. in Elektrotechnik von der Friedrich-Alexander-Universität Erlangen-Nürnberg und promoviert dort derzeit am Lehrstuhl für Regelungstechnik. Seine Forschungsinteressen umfassen autonomes Manövrieren von Fahrzeuggespannen.
Dr.-Ing. Andreas Völz ist akademischer Rat am Lehrstuhl für Regelungstechnik der Friedrich-Alexander-Universität Erlangen-Nürnberg. Hauptarbeitgsgebiete: lokale Optimierungsverfahren für Anwendungen in der Robotik, kollisionsfreie Bewegungsplanung, nichtlineare modellprädiktive Regelung.
Prof. Dr.-Ing. Knut Graichen ist Leiter des Lehrstuhls für Regelungstechnik der Friedrich-Alexander-Universität Erlangen-Nürnberg. Hauptarbeitsgebiete: optimale und modellprädiktive Regelung, eingebettete Umsetzung von optimierungsbasierten Verfahren für mechatronische und vernetzte Systeme.
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Research ethics: Not applicable.
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Author contributions: The authors have accepted responsibility for the entire content of this manuscript and approved its submission.
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Competing interests: The authors state no conflict of interest.
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Research funding: None declared.
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Data availability: Not applicable.
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