Adaptive Trailer Set Path Curvature Control for Trailer Backup

Abstract

We consider the problem of building a Trailer Backup Assist System with a positive offset of hitch point (the hitch point is located between the vehicle rear axle and the trailer axle) that would function in conditions of a priori uncertainty about the trailer length and external disturbances. External uncontrolled disturbances can arise from non-horizontal surfaces, presence of significant road unevenness, variable density of soil, etc. A mathematical model of trailer control is justified and used to derive an adaptive control law using steered wheels deflection to achieve a preset trailer path curvature. The path curvature is set in order to avoid jackknifing. The a priori uncertainty is eliminated by means of current parametric identification of the mathematical model of the controlled object, current estimates are used for the control law synthesis. For the formalization of system requirements, an implicit reference model is used. The justification of adaptive control system operation is built on the “simplified adaptability conditions”. The considered adaptive control system of the movement back of the car reduces the cost of system of the help to the driver and reduces operating costs as does not demand determination of the trailer length and corresponding for this equipment, provides more exact steering at external disturbances. A model example is given.