Control for Automated Trailer Backup

We propose a steering controller for automated trailer backup, which can be used on tractor-trailer configurations including fifth wheel campers and gooseneck style trailers. The controller steers the trailer based on real-time driver issued trailer curvature commands. We give a stability proof for the hierarchical control system, and demonstrate robustness under a specific set of modeling errors. Simulation results are provided along with experimental data from a full-size pickup truck and 5th wheel trailer.

• Record URL:
  https://doi.org/10.4271/2017-01-0040
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/01487191
• Supplemental Notes:
  • Abstract reprinted with permission of SAE International.
• Authors:
  • Hafner , Michael
  • Pilutti, Thomas
• Conference:
  • WCX™ 17: SAE World Congress Experience
  • Location: Detroit Michigan, United States
  • Date: 2017-4-4 to 2017-4-6
• Publication Date: 2017-3-28

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Serial:
  • SAE Technical Paper
  • Publisher: Society of Automotive Engineers (SAE)
  • ISSN: 0148-7191
  • EISSN: 2688-3627
  • Serial URL: http://papers.sae.org/

Subject/Index Terms

• TRT Terms: Automated vehicle control; Automatic controllers; Backing (Driving); Driver support systems; Optics; Pickup trucks; Sensors; Simulation; Steering; Trailers
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01644461
• Record Type: Publication
• Source Agency: SAE International
• Report/Paper Numbers: 2017-01-0040
• Files: TRIS, SAE
• Created Date: Mar 30 2017 9:35AM