The problem of reversing vehicles with two trailers could be solved with a semi-autonomous assistance system for automatically steering the vehicle. In the literature found, no controllers have been implemented on a full-size vehicle with two trailers. In this paper, two simple path-tracking controllers are presented for automating the reversing of a “B-double” vehicle, consisting of a tractor and two trailers. One of the controllers is a heuristic “preview point” controller; the other uses a state feedback approach. The controllers steer the wheels on the front axle so as to stabilize the vehicle in reverse and control the path of the rearmost axle to follow a prescribed path. A tuning strategy is outlined where both controllers are tuned using the linear quadratic regulator and have the same closed-loop poles. The two controllers are implemented on a full-size B-double test vehicle. Experimental results are discussed, and the controller performances are evaluated against criteria. With the state feedback controller, the test vehicle was able to track target paths, consisting of a roundabout and a lane change, to within 50 mm.

a global path-planning strategy is proposed which defines the geometric path of the rear trailer axle of a multiply-articulated vehicle travelling in reverse. This is intended for use in conjunction with a path-tracking reversing controller. A general, multiple-trailer vehicle model is derived and used to model a 'B-double' heavy vehicle combination, which has two trailers. The curvature properties of a path for the rear trailer axle are investigated and an empirical relationship is defined between the curvature and the length over which the curvature changes. This is used to generate a library of feasible path segments and the vehicle model is used to calculate swept paths. A Dijkstra grid search algorithm is then used to connect the path segments together to generate a collision-free composite path. An example path generation is presented for the B-double.

A path-tracking controller is presented for automating the reversing of multiply-articulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size, experimental heavy vehicles: a 'Tractor-Semitrailer', 'B-double' and 'B-triple' which have one, two and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track paths to within 400mm of the desired path. AbstractA path-tracking controller is presented for automating the reversing of multiplyarticulated vehicles. This uses a state feedback approach and steers the wheels of the front axle to ensure the rearmost vehicle unit tracks a specified path. Linear closed-loop analysis is performed and shows that the controller is stable for vehicles with up to six trailers. The controller is implemented on three full-size, experimental heavy vehicles: a 'Tractor-Semitrailer', 'B-double' and 'B-triple' which have one, two and three trailers respectively. Experimental results are presented and the controller performance is evaluated. All test vehicles were able to track paths to within 400mm of the desired path.

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