In truck platooning, the leading vehicle is driven manually, and the following vehicles run by autonomous driving, with the short inter-vehicle distance between trucks. To successfully perform platooning in various situations, each truck must maintain dynamic stability, and furthermore, the whole system must maintain string stability. Due to the short front-view range, however, the following vehicles' path planning capabilities become significantly impaired. In addition, in platooning with articulated cargo trucks, the off-tracking phenomenon occurring on a curved road makes it hard for the following vehicle to track the trajectory of the preceding truck. In addition, without knowledge of the global coordinate system, it is difficult to correlate the local coordinate systems that each truck relies on for sensing environment and dynamic signals. In this paper, in order to solve these problems, a path planning algorithm for platooning of articulated cargo trucks has been developed. Using the Kalman filter, V2V (Vehicle-to-Vehicle) communication, and a novel update-and-conversion method, each following vehicle can accurately compute the trajectory of the leading vehicle's front part for using it as a target path. The path planning algorithm of this paper was validated by simulations on severe driving scenarios and by tests on an actual road. The results demonstrated that the algorithm could provide lateral string stability and robustness for truck platooning.
Keywords: TROOP; V2V communication; articulated cargo trucks; kabsch algorithm; kalman filter; off-tracking; path planning; string stability; truck platooning.