A generic method to determine space-saving corridor segments for trucks with one-axle trailer

In general, the generation of both admissible and collision-free paths for autonomous truck-trailer systems is considered as a sophisticated challenge within the field of motion planning. Therefore, we propose a planning concept that uses maneuvers as elementary planning components and thereby deals with both aspects at the same time. In order to ensure the collision-freedom of an admissible path, the space has to be determined that is allocated by the articulated vehicle, while tracking the path. Considering a truck-trailer system, this task is however challenging, since first, the orientation of the trailer in respect to the truck might change and second, the various tractrix curves of the trailer´s wheels and vertices are characterized by curvatures of different value and even different sign. In this paper, we present a method to determine the corridor segment which serves as a hull that completely encloses a truck-trailer system during a maneuver. The main benefit of the proposed method is based on its generic character that allows to apply the method to arbitrary trucks with one-axle trailer and to maneuvers of any type in order to generate space-saving corridor segments.