Theory and practice of reversing control on multiply-articulated vehicles

Rimmer, Amy J.; Cebon, David

doi:10.1177/0954407015596918

Cited by 14 publications

(6 citation statements)

References 16 publications

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“…A switching modeling and control framework is developed to cope with the effect of varying slip angles in the study by Nayl et al 17 Bouyarmane et al 18 propose quadratic programs to handle multi-robot systems. Rimmer and Cebon 19 present a pathtracking controller for automating the reversing of multiply-articulated vehicles. A roll stability controller is introduced to improve roll stability in transient maneuvers in the study by Cheng et al 20 Compared with traditional control theory, advanced control theory has faster convergence speed, higher precision, and better tracking performance.…”

Section: Related Work and Motivationsmentioning

confidence: 99%

A four-level test system for evaluating pavement compaction performance of autonomous articulated vehicles

Wang

Xiao

et al. 2021

International Journal of Advanced Robotic Systems

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This article develops a four-level test system for accurately evaluating pavement compaction performance of autonomous articulated vehicles. In the evaluation layer, various performance indicators are evaluated, including the stability, rapidity and accuracy of trajectory tracking, and the ratio of required compaction to actual compaction once and twice and compaction repeatability index when pavement compaction. The guidance and control layer can be described in terms of theory and application. At the theoretical level, the line of sight guidance algorithm and incremental proportional integral control algorithm are introduced to eliminate system control lag. Among them, the best line of sight guidance and incremental proportional integral control parameters are selected by the Elitist strategies genetic algorithm, and the initial parameters are set according to human driving experience initial control parameters. At the application level, the BECKHOFF controller, a kind of programmable logic controller, acts as the main guidance and control unit in the four-level control system, fixed speed is given to the autonomous articulated vehicle by setting the engine speed and transmission gear, and steering wheel angle is adjusted in real time by the BECKHOFF controller. In the sensor level, a simplified sensor configuration is used to reduce overall cost. The comparative simulation results of no controller, the incremental proportional integral controller, line of sight guidance-incremental proportional integral controller with human driving experience initial control parameters, line of sight guidance-incremental proportional integral controller with random initial control parameters, and elitist strategies genetic algorithm-line of sight guidance-incremental proportional integral controller with human driving experience initial control parameters manifest evidently that the proposed elitist strategies genetic algorithm-line of sight guidance-incremental proportional integral controller with human driving experience initial control parameters has almost no steady-state error, no overshoot, and short settling time. Field results show that ratio of required compaction to actual compaction once achieves 100%, ratio of required compaction to actual compaction twice achieves 94.6%, and compaction repeatability index achieves 35%.

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Section: Related Work and Motivationsmentioning

confidence: 99%

A four-level test system for evaluating pavement compaction performance of autonomous articulated vehicles

Wang

Xiao

et al. 2021

International Journal of Advanced Robotic Systems

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“…Path followers suitable for this task have, however, recently been designed and successfully implemented on multi-trailer combinations, e.g. in [103].…”

Section: Considerations For Long Combination Vehiclesmentioning

confidence: 99%

Trends in vehicle motion control for automated driving on public roads

Klomp

Jonasson

Laine

et al. 2019

Vehicle System Dynamics

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In this paper we describe how vehicle systems and the vehicle motion control are affected by automated driving on public roads. We describe the redundancy needed for a road vehicle to meet certain safety goals. The concept of system safety as well as system solutions to fault tolerant actuation of steering and braking and the associated fault tolerant power supply is described. Notably restriction of the operational domain in case of reduced capability of the driving automation system is discussed. Further we consider path tracking, state estimation of vehicle motion control required for automated driving as well as an example of a minimum risk maneuver and redundant steering by means of differential braking. The steering by differential braking could offer heterogeneous or dissimilar redundancy that complements the redundancy of described fault tolerant steering systems for driving automation equipped vehicles. Finally the important topic of verification of driving automation systems is addressed.

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“…These shortcomings have been addressed in a previous paper [11], in which a simple pathtracking controller was implemented on vehicles with one, two and three trailers. This paper aims to extend the work completed in [11], by introducing a second path-tracking controller and evaluating the performance of both controllers against a set of criteria. This detailed comparison was carried out on a B-double test vehicle (Figure 1).…”

Section: Implementation Of Reversing Control On a Doubly-articulated mentioning

confidence: 99%

“…The state feedback controller includes feedback control on articulation angles, lateral offset and heading error at the equivalent axle of the rear trailer. Some features of the controller are illustrated in Figure 4 for a doubly-articulated vehicle [11,12].…”

Section: State Feedback Controllermentioning

confidence: 99%

Implementation of Reversing Control on a Doubly Articulated Vehicle

Rimmer

Cebon

2017

Journal of Dynamic Systems, Measurement, and Control

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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.

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Theory and practice of reversing control on multiply-articulated vehicles

Cited by 14 publications

References 16 publications

A four-level test system for evaluating pavement compaction performance of autonomous articulated vehicles

A four-level test system for evaluating pavement compaction performance of autonomous articulated vehicles

Trends in vehicle motion control for automated driving on public roads

Implementation of Reversing Control on a Doubly Articulated Vehicle

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