«Парк-ассистент» - система помощи при парковке для автопоезда

Abstract

Almost daily drivers of road trains (RT) have to maneuver in cramped conditions, including moving in reverse, which is a significant difficulty. The existing electronic parking sensors systems are implemented only for single cars. The available publications concerning the RT are devoted to the search for optimal control algorithms without the driver participation. The purpose of this study is to develop «Park Assistant» (PA) system that helps the driver to maneuver the RT in reverse in difficult conditions. To do this, using the «navigation system», the current situation is estimated and modeled, the initial coordinates of the RT and the planned parking place are determined. Using the mathematical model of the RT, the trajectory of the «optimal movement of the tractor and semi-trailer» is calculated. The optimal trajectory of the RT in reverse and the steering wheel rotation algorithm are calculated using a specially developed program. The actions of the driver to perform the parking maneuver of the RT are reduced to the implementation of recommendations on the screen of the PA. The theoretical and practical results obtained contribute to the development of promising autonomous motor transport.