Abstract
Driving vehicles with one or more passive trailers has difficulties in both forward and backward motion due to inter-unit collisions, jackknife, and lack of visibility. Consequently, advanced driver assistance systems (ADAS) for multi-trailer combinations can be beneficial to accident avoidance as well as to driver comfort. The ADAS proposed in this paper aims to prevent unsafe steering commands by means of a haptic handwheel. Furthermore, when driving in reverse, the steering-wheel and pedals can be used as if the vehicle was driven from the back of the last trailer with visual aid from a rear-view camera. This solution, which can be implemented in drive-by-wire vehicles with hitch angle sensors, profits from two methods previously developed by the authors: safe steering by applying a curvature limitation to the leading unit, and a virtual tractor concept for backward motion that includes the complex case of set-point propagation through on-axle hitches. The paper addresses system requirements and provides implementation details to tele-operate two different off- and on-axle combinations of a tracked mobile robot pulling and pushing two dissimilar trailers.
Highlights
Advanced driver assistance systems (ADAS) are gaining more and more attention as a key technology to increase driver comfort and safety
The handwheel and pedals can be used as if the vehicle was driven from the back of the last trailer, i.e., a virtual tractor, with visual aid from a rear-view camera
This paper has proposed an advanced driver assistance systems (ADAS) to avoid inter-unit collisions and jackknife in vehicles that pull or push one or more passive trailers
Summary
Advanced driver assistance systems (ADAS) are gaining more and more attention as a key technology to increase driver comfort and safety. This is a wide research area that includes adaptive cruise control [1], navigation [2], and perception of vehicles [3], pedestrians [4] or traffic signs [5]. A common feature of ADAS is using cameras [6,7] and other sensors [8] to improve driver awareness. Vehicles with one or more trailers, such as trucks or multi-body combinations for goods and passengers, can benefit from ADAS because their maneuvering is complex even for skilled drivers [12,13].
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