Minimizing Long Vehicles Overhang Exceeding the Drivable Surface via Convex Path Optimization

1. Minimizing Long Vehicles Overhang Exceeding the Drivable Surface via Convex Path Optimization

2. Introduction

3. Modified Scania bus used as experimental and research platform

4. Road-aligned coordinate frame and spatial-based vehicle model

5. Simulation result

Geometric relations used in the computation of the
minimum road width.