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Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is adifficult task in comparison to passenger cars. Most research on motionplanning for autonomous vehicles has focused on passenger vehicles, and manyunique challenges associated with heavy-duty vehicles remain open. However,recent works have started to tackle the particular difficulties related toon-road motion planning for buses and tractor-trailer vehicles using numericaloptimization approaches. In this work, we propose a framework to design anoptimization objective to be used in motion planners. Based on geometricderivations, the method finds the optimal trade-off between the conflictingobjectives of centering different axles of the vehicle in the lane. For thebuses, we consider the front and rear axles trade-off, whereas for articulatedvehicles, we consider the tractor and trailer rear axles trade-off. Our resultsshow that the proposed design strategy results in planned paths thatconsiderably improve the behavior of heavy-duty vehicles by keeping the wholevehicle body in the center of the lane.

A Geometric Approach to On-road Motion Planning for Long and Multi-Body Heavy-Duty Vehicles