Abstract
In Japan, a new project for reducing CO2, called "Energy ITS project" has started since 2008 by NEDO (New Energy and Industrial Technology Development Organization). In this project, an autonomous platooning system of heavyduty trucks is developed to reduce the amount of CO2 emission. This project assumes that trucks run in mixed-traffic. In mixed-traffic, there are various dangerous factors such as a broken-down car, an obstacle and so on. Therefore, the technology of autonomous lane changing for safe platooning is required. In this paper, the method of autonomous lane change based on path following by the combination of estimation and the image sensor is proposed. And the effectiveness of the proposed method is evaluated by the experimental results by a heavy duty truck.
Keywords: Autonomous Lane Change, Heavy-duty Truck, Path Following Control, ITS