Stability and controller structures for self-driving vehicles

Important results from the project

The purpose of the project has been to develop frameworks, theory, and algorithms for autonomous trucks with trailers and especially for reversing with these. The goals of the project that have been met include theory and methods for controlling advanced autonomous vehicles with guaranteed stability, methods that reduce the development time for lattice-type motion planning systems, development of a complete framework for planning and control of autonomous reversing with trailer, and a demonstrator for evaluation in practice.

Expected long term effects

The project´s results are in motion planning and control for long combinations of tractors and trailers at low speeds in closed and unstructured environments. They include the development of frameworks for motion planning and control, structured design tools to ensure stability and experimental validation of solutions through simulations, laboratory and field trials. The project has resulted in 20 publications. Expected effect in the short term is useful results for driver assistance systems and in the longer term fully autonomous trucks with trailers.

Approach and implementation

Practically motivated issues have first been studied theoretically, then in simulation, then on a small-scale demonstrator and finally on a full-scale demonstrator. This working method enables the return of new-found practical issues to guide priorities and has been made possible thanks to a well-functioning collaboration with Scania. The doctoral student in the project has had the opportunity to work together with other doctoral students in the project leader’s research group in motion planning at LiU, which is one of several reasons for the project´s productivity.