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Enhanced Bézier curve-based trajectory planning for high-altitude autonomous trucks
Du Chigan1,2, Jianbei Liu2, Yang Zhao1,3
1School of Transportation Engineering, Chang'an University, Xi'an, China.
Plos One
|September 26, 2025
Summary
Autonomous trucks face challenges in high-altitude highway freight transport. A new trajectory planning method using quartic Bézier curves improves stability and maneuvering on difficult alpine roads.
Area of Science:
- Engineering
- Robotics
- Logistics
Background:
- Highway freight transport is crucial for Tibet's logistics, moving 76.4% of regional freight.
- Alpine roads present significant operational challenges for heavy trucks due to steep grades, sharp curves, and narrow lanes.
- Current autonomous truck trajectory planning algorithms are limited in high-altitude environments.
Purpose of the Study:
- To develop a novel trajectory planning method for autonomous trucks operating in challenging high-altitude alpine environments.
- To enhance the safety and efficiency of autonomous truck navigation on difficult terrain.
Main Methods:
- Proposed a new trajectory planning method utilizing quartic Bézier curves, offering G² continuity.
- Integrated speed profiles into a 3D curve representation.
- Employed a two-phase optimization process for safety and efficiency.
Main Results:
- The novel method effectively maintains truck stability on demanding alpine roads.
- Demonstrated responsive maneuvering capabilities under challenging road conditions.
- Simulation results validated the approach's effectiveness.
Conclusions:
- The proposed quartic Bézier curve trajectory planning method is suitable for autonomous trucks in high-altitude, complex road conditions.
- This approach addresses limitations of existing algorithms in environments like Tibet.
- Enhances the feasibility of autonomous freight transport in challenging terrains.
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