Ye, Wenrui2020-09-032020-09-032020-09-032020-08-22http://hdl.handle.net/10012/16242This thesis fills the research gap of the tractor semi-trailer left turn problem at a city intersection. Although obstacle avoidance is a classic topic in the field of autonomous driving, however, most research is focused on passenger cars or single body vehicles. For an autonomous driving tractor semi-trailer, obstacle avoidance is an essential function. This thesis develops an obstacle avoidance algorithm for tractor semi-trailers.enMaster Thesis