Assistance controller for driving backwards and parking an articulated vehicle

Kelber, C.R.; Osorio,; Becker, Leandro Buss

doi:10.1109/ivs.2008.4621220

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…Some beneficial features of the proposed solution seem to deserve an attention. First, worth to mention high scalability of the control assistant algorithm, where a number of trailers attached to a vehicle influences only a number of matrix multiplications in equation (10). Second, simplicity of the cascaded VFO control law implementation and tuning [6] allows it to be embedded into a lowcost on-board processing unit.…”

Section: Discussionmentioning

confidence: 99%

“…An example of the assistance system tested in a commercial truck with a limited number of trailers can be found in [17]; another kind of an assistance system, restricted however only to synchronization of a truck-trailer motion, can be found in [14]. Available solutions of control-assistance systems devised for N-trailers (especially those which admit arbitrary number of trailers) are mainly focused on the active assistance concept [15], [13], [10]. In this approach the tractor must be equipped with the steer-by-wire implement and the cruise control system, which make the concept expensive and lead to legal problems in case of commercial applications.…”

Section: Introductionmentioning

confidence: 99%

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Helping a driver in backward docking with N-trailer vehicles by the passive control-assistance system

Michałek

Kiełczewski

2013

16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013)

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The paper presents a control-assistance system devised for human drivers of articulated vehicles equipped with arbitrary number of trailers mounted in the off-axle manner. The proposed assistance system is passive, which means that it does not interact directly with a vehicle, but it only suggests control action to a human operator solely by a (passive) humanmachine interface (HMI). In contrast to the active assistance systems proposed for N-trailers in the literature, the passive assistant does not require installation in a vehicle any highend actuation subsystems like steer-by-wire or cruise control. The concept presented in the paper utilizes the cascaded VFO control law as a control-assistance function and the HMI with a simple and intuitive graphical interface, which allows a driver to focus an attention only on a single bar-like indicator. The system has been devised for N-trailer vehicles with a tractor of differentially-driven or car-like kinematics. Effectiveness of the assistance system has been illustrated by experimental results obtained with a laboratory-scale vehicle.

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Section: Discussionmentioning

confidence: 99%