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Updated: Nov 26, 2025

Automated Deployment of an Internet Protocol Telephony Service on Unmanned Aerial Vehicles Using Network Functions Virtualization
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A Novel Path Planning Algorithm for Truck Platooning Using V2V Communication.

Yongki Lee1, Taewon Ahn1, Chanhwa Lee2

  • 1Graduate School of Automotive Engineering, Kookmin University, Seoul 02707, Korea.

Sensors (Basel, Switzerland)
|December 11, 2020
PubMed
Summary

Autonomous truck platooning enhances safety and efficiency. This study developed a path planning algorithm using Kalman filters and V2V communication to ensure stable truck platooning, even for articulated trucks on curves.

Keywords:
TROOPV2V communicationarticulated cargo truckskabsch algorithmkalman filteroff-trackingpath planningstring stabilitytruck platooning

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Area of Science:

  • Automotive Engineering
  • Robotics and Control Systems
  • Transportation Science

Background:

  • Truck platooning involves autonomous following vehicles with short inter-vehicle distances.
  • Challenges include impaired path planning for following vehicles, off-tracking in articulated trucks on curves, and correlating local coordinate systems.

Purpose of the Study:

  • To develop a robust path planning algorithm for articulated truck platooning.
  • To address limitations in following vehicle perception and trajectory tracking.

Main Methods:

  • Utilized Kalman filter for state estimation.
  • Incorporated Vehicle-to-Vehicle (V2V) communication.
  • Developed a novel update-and-conversion method for trajectory computation.

Main Results:

  • The algorithm enables following vehicles to accurately compute the leading vehicle's trajectory as a target path.
  • Simulations and real-world tests validated the algorithm's performance in severe driving scenarios.

Conclusions:

  • The developed path planning algorithm ensures lateral string stability and robustness for truck platooning.
  • It effectively overcomes challenges posed by short-range sensing and articulated truck dynamics.