Driver Assist for Backing-Up a Vehicle with a Long-Wheelbase Dual-Axle Trailer

Driver Assist for Backing-Up a Vehicle with a Long-Wheelbase Dual-Axle Trailer

Conference

Abstract

​​​​Backing-up of articulated vehicles poses a difficult challenge even for experienced drivers. While long wheelbase dual-axle trailers provide a benefit of increased capacity over their single-axle counterparts, backing-up of such systems is especially difficult.  We propose a control strategy for such systems, introducing concepts of the \emph{hitch control space} and \emph{no-slip curve} derived from no-slip kinematics, allowing backing-up maneuvers to be intuitive to drivers without experience with trailers. Using hitch angle feedback, we show these concepts can be used to stabilize the trailer in back-up motion in the presence of arbitrary driver inputs.  The controller is tested in simulation and on a scale model testbed, demonstrating that robust and stable backing-up of such systems can be achieved whilst allowing the driver to maintain full control of the vehicle.​

Details

PUBLISHED IN
The 11th International Symposium on Advanced Vehicle Control (AVEC)
PUBLICATION DATE
01 Sep 2012
AUTHORS
J. Chiu, A. Goswami